Controller and control method

Abstract

The invention obtains a controller and a control method capable of optimizing a positional relationship between a lean vehicle and a vehicle ahead. In the controller and the control method according to the invention, at least during an accelerator operation by a rider, an execution section of the controller executes, as rider-assistance operation to assist with driving by the rider, speed control for controlling a speed of a lean vehicle (1) such that a positional relationship between the lean vehicle (1) and a vehicle ahead (2) located ahead of the lean vehicle (1) approaches a target state that varies according to an operation amount of the accelerator operation. Furthermore, a determination section of the controller determines following safety of the lean vehicle (1) to follow the vehicle ahead (2). During execution of the speed control, in the case where the determination section determines that the following safety is lower than a standard, the execution section executes speed adjustment assistance operation as operation to assist with speed adjustment for moving the lean vehicle (1) away from the vehicle ahead (2).

Dependencies are inferred from the claim text.