Title:
LEANING VEHICLE COMPRISING BRAKE ASSIST CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/230767
Kind Code:
A1
Abstract:
A brake assist control device 1011 obtains: at least either the leaning angle speed, which is the rate of change over time for the leaning angle of the leaning vehicle 1001, or the leaning angle acceleration, which is the rate of change over time for the leaning angle speed of the leaning vehicle 1001; a margin obtained on the basis of the relationship between an obstacle 2001 and the vehicle itself 1001; and the amount of braking operation by a rider. On the basis of at least either the obtained leaning angle speed or leaning angle acceleration, the margin obtained on the basis of the relationship between the obstacle 2001 and the vehicle itself 1001, and the amount of braking operation by the rider, the brake assist control device 1011 controls the assist braking force such that a first braking force is greater than a second braking force, said first braking force being the maximum value for braking force from a first amount of braking operation by the rider, in a first scenario in which the rider responds to the obstacle 2001 by using braking force from a braking operation by the rider without the rider changing the direction of travel for the leaning vehicle 1001 and said second braking force being the maximum value for braking force from the first amount of braking operation by the rider, in a second scenario in which the rider responds to the obstacle 2001 by changing the direction of travel for the leaning vehicle and by using braking force from a braking operation by the rider.
Inventors:
TORIGOE HOSHIMI (JP)
KOBAYASHI HIROSHI (JP)
KISHI TOMOAKI (JP)
YASUKAWA RISA (JP)
KOBAYASHI HIROSHI (JP)
KISHI TOMOAKI (JP)
YASUKAWA RISA (JP)
Application Number:
PCT/JP2020/018876
Publication Date:
November 19, 2020
Filing Date:
May 11, 2020
Export Citation:
Assignee:
YAMAHA MOTOR CO LTD (JP)
International Classes:
B60T8/1755; B60T8/00; B60W10/18; B60W10/20; B60W30/09; B62J27/00
Foreign References:
| JP2018177046A | 2018-11-15 | |||
| JP2006069303A | 2006-03-16 | |||
| JP2006069303A | 2006-03-16 |
Other References:
See also references of EP 3967563A4
Attorney, Agent or Firm:
KAJI, SUHARA & ASSOCIATES (JP)
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