Controller and control method
AssigneeRobert Bosch GmbH
InventorJunya Iwatsuki
Life of this patent
Estimating the term…
Abstract
The present invention obtains a controller and a control method capable of appropriately stabilizing behavior of a rear wheel of a straddle-type vehicle. In the controller and the control method according to the present invention, a slip amount of a wheel of a straddle-type vehicle (100) is controlled to be equal to or smaller than an allowable slip amount. In the case where it is determined that behavior of a rear wheel (4) of the straddle-type vehicle (100) is in an unstable state on the basis of a slip angle (θ1) of the straddle-type vehicle (100), stabilization control is executed to reduce the allowable slip amount of the rear wheel (4) to be smaller than the allowable slip amount of the rear wheel (4) at the time when it is determined that the behavior of the rear wheel (4) is in the stable state.
Claims11
A controller (60) that controls behavior of a straddle-type vehicle (100), the controller comprising:
- a control section (62) that controls a slip amount of a wheel of the straddle-type vehicle (100) to be equal to or smaller than an allowable slip amount, wherein
- the control section (62)
- determines whether behavior of a rear wheel (4) of the straddle-type vehicle (100) is in a stable state on the basis of a slip angle of the straddle-type vehicle (100) and
- when determining that the behavior of the rear wheel (4) is in an unstable state, executes first stabilization control to reduce the allowable slip amount of the rear wheel (4) to be smaller than the allowable slip amount of the rear wheel (4) at the time of determining that the behavior of the rear wheel (4) is in the stable state.
A control method for controlling behavior of a straddle-type vehicle (100),
- a slip amount of a wheel of the straddle-type vehicle (100) being controlled to be equal to or smaller than an allowable slip amount, the control method comprising:
- a step (S511) of determining whether behavior of a rear wheel (4) of the straddle-type vehicle (100) is in a stable state on the basis of a slip angle of the straddle-type vehicle (100);
- and
- a step (S517) of executing first stabilization control, in which the allowable slip amount of the rear wheel (4) is reduced to be smaller than the allowable slip amount of the rear wheel (4) at the time when it is determined that the behavior of the rear wheel (4) is in the stable state, in the case where it is determined that the behavior of the rear wheel (4) is in an unstable state.
Dependencies are inferred from the claim text.