An anti-rollover apparatus and control method for heavy-duty vehicles with a pneumatic brake system includes an anti-yaw module, an anti-roll module, an electronic control unit (ECU) (10), a yaw velocity sensor (12), and a vehicle roll angle sensor (18). The ECU (10) controls solenoid valves (4, 9, 11, 19, and 24) to achieve braking of part of wheels to obtain anti-yaw torques and improve the yaw stability of the heavy-duty vehicles. The ECU (10) controls gas switch valves (21 and 22) to spray high-pressure gases recovered in brake chambers (1, 13, 16, and 26) out, anti-roll torques are obtained through the jet reactive force, and the roll stability of the heavy-duty vehicles is improved.

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.

A wheelie controller and a control method thereof or preventing a reduction of acceleration that is more than necessary and reducing a shock during a contact of a front wheel with the ground when a wheelie state is terminated. The wheelie controller for controlling a wheelie of a vehicle body computes a target trajectory, which is a target of a parameter and is used to control the wheelie state of the vehicle body, in accordance with the parameter that is related to pitch of the vehicle body and controls an increase/reduction of the pitch of the vehicle body so as to bring the parameter close to the target trajectory.

A drive assistance device (24) for a saddle type vehicle (1) includes a ride sensor (37) configured to detect a ride attitude of a rider (J), a vehicle body behavior generating part (25) configured to generate a behavior on a vehicle body by a prescribed output, and a controller (27) configured to control driving of the vehicle body behavior generating part (25), the vehicle body behavior generating part (25) includes a brake device (BR) configured to brake a host vehicle, and wherein, when the brake device (BR) is actuated regardless of an operation of the rider (J), the controller (27) actuates the brake device (BR) according to the ride attitude of the rider (J) detected by the ride sensor (37).

A method for operating a brake system of an at least double-tracked motor vehicle comprises two breakable wheels, which are arranged at opposite ends of an axle, and a rollover protection system which can cause braking of the wheels in order to prevent a rollover situation. Automatic braking of that wheel of the axle which is loaded more greatly when cornering is brought about by way of the rollover protection system. Subsequently, a smaller steering lock angle or a lower lateral acceleration than in the case of the cornering which took place immediately previously, or a straightahead driving phase which immediately follows the cornering is detected. Thereupon, automatic braking of the two wheels on the axle is brought about.

In the case of a method for operating a brake system of an at least double-tracked motor vehicle (10) which comprises 2 breakable wheels (12.sub.L, 12.sub.R), which are arranged at opposite ends of an axle (14.sub.V), and a rollover protection system, which can cause braking of the wheels (12.sub.L, 12.sub.R) in order to prevent a rollover situation, automatic braking of that wheel of the axle (14.sub.V), which is loaded more greatly when cornering is brought about by way of the rollover protection system. Subsequently, a counter-steering movement is detected by way of a predefined steering angle change being exceeded in a predefined time period in the direction counter to the cornering direction, and, thereupon, a brake force is caused to be built up at the opposite wheel, which is loaded less greatly by way of the rollover protection system.

The present invention refers to a brake assist system (1) for cyclist on a bicycle (100) including a braking system (101) having a braking member (105) capable of exerting a braking force (F.sub.B) on a front wheel (101) of the bicycle (100) by the effect of a force (F.sub.c) applied by the cyclist on a lever (103). The system (1) includes a sensor (2) for measuring the angular speed (ω.sub.1) of the front wheel (101) of the bicycle (100); an actuator (3) capable of exerting an actuator force (F.sub.A), connectable to said braking system of the bicycle so that the actuator force (F.sub.A) opposes the force (F.sub.c) applied by the cyclist on the lever (103), in order to reduce the braking force (F.sub.B); and a control module (4) configured for receiving, as an input, the signal representative of the angular speed (ω.sub.1) of the front wheel (101) and for determining from this a deceleration (η) of the front wheel (101).

A drive assist apparatus includes a detector and a traveling controller. The detector detects an operation target of automatic emergency braking of a vehicle. The traveling controller includes a calculator and a determiner, and controls the automatic emergency braking on the basis of a result of the detection performed by the detector. The calculator calculates each of a target deceleration rate and a variation rate. The target deceleration rate is a target value of a deceleration rate of the automatic emergency braking. The variation rate is a rate of variation in the deceleration rate required for the deceleration rate of the automatic emergency braking to reach the target deceleration rate. The determiner determines a contact risk of the vehicle with the operation target on the basis of the target deceleration rate. The calculator increases the variation rate when the contact risk is determined by the determiner as being relatively high.

The invention obtains a controller and a control method capable of appropriately assisting with an operation by a driver while preventing a motorcycle from falling over. In the controller and the control method according to the invention, in a control mode to make the motorcycle perform an automatic cruise deceleration operation, automatic deceleration that is deceleration of the motorcycle generated by the automatic cruise deceleration operation is controlled in accordance with a change rate of a state amount that is related to posture of the motorcycle during turning travel.

Systems and methods for preventing roll-over of a motor vehicle in the event of a transverse load change. The motor vehicle has an individual-wheel drive designed to drive a wheel that is loaded by the transverse load change independently of the at least one other wheel of the motor vehicle. One methods includes identifying a critical state of the motor vehicle in the event of a transverse load change, applying a drive torque by the individual-wheel drive to the motor vehicle wheel that is loaded by the transverse load change such that the wheel that is loaded by the transverse load change is caused to slip, and steering the motor vehicle wheel that is loaded by the transverse load change in the direction of the direction of travel such that a roll-over of the motor vehicle can be prevented.