In a brake device for a saddle-type vehicle, including hydraulic front and rear wheel brakes and a first control unit that controls operations of the front wheel brake and the rear wheel brake, a second control unit includes a collision possibility determining section that determines a possibility of collision of an own vehicle with an obstacle ahead, the first control unit has an automatic brake controller that performs automatic brake control to automatically increase braking forces of the front wheel brake and the rear wheel brake, and in case where the collision possibility determining section determines that there is the possibility of collision, the automatic brake controller pressurizes the rear wheel brake to brake a rear wheel, and simultaneously pressurizes the front wheel brake up to a predetermined pressure at which a vehicle body posture is not changed by braking of a front wheel.

A movable object for responding to an object includes a first passive infrared sensor having a first detection range and a first field of view, and one or more second passive infrared sensors each having a second detection range and a second field of view. The second detection range is longer than the first detection range and the second field of view is smaller than the first field of view. The movable object further includes one or more processors configured to recognize the object based on one or more heat signals received from at least one of the first passive infrared sensor or the one or more second passive infrared sensors, and perform a flight response measure to control the movable object based on the recognized object.

The disclosure describes embodiments for modifying a whether an ego vehicle changes lanes to a target lane at a target time based on a payload of a Vehicle-to-Everything (V2X) message originated by a remote vehicle. In some embodiments, a method includes determining, based on the payload, whether the remote vehicle is changing lanes to the target lane at the target time. The method includes determining that the ego vehicle is changing lanes to the target lane at approximately the target time. The method includes estimating that the ego vehicle and the remote vehicle will collide at the target lane at the target time. The method includes modifying an operation of a vehicle component of the ego vehicle so that the ego vehicle does not change lanes to the target lane at the target time.

A control method for distribution of braking force of an autonomous vehicle may include a vertical load determination step in which a controller is configured to recognize an object existing in an interior of the vehicle and recognizes data of at least one among a position in the vehicle, a size, volume, density, weight, and center of gravity of the corresponding object, and determines a vertical load applied to each wheel of the vehicle according to the recognized data, wherein the controller transmits data of the determined vertical load of each wheel to a brake controller electrically connected to the controller, and the brake controller 40 determines an amount of the distribution of the braking force for each wheel of the vehicle according to the received data of the vertical load and drives a brake actuator electrically connected to the brake controller according to the determined amount of the distribution of the braking force.

A control method for distribution of braking force of an autonomous vehicle may include a vertical load determination step in which a controller is configured to recognize an object existing in an interior of the vehicle and recognizes data of at least one among a position in the vehicle, a size, volume, density, weight, and center of gravity of the corresponding object, and determines a vertical load applied to each wheel of the vehicle according to the recognized data, wherein the controller transmits data of the determined vertical load of each wheel to a brake controller electrically connected to the controller, and the brake controller 40 determines an amount of the distribution of the braking force for each wheel of the vehicle according to the received data of the vertical load and drives a brake actuator electrically connected to the brake controller according to the determined amount of the distribution of the braking force.

A brake system may include an actuation device, in particular a brake pedal; a first piston-cylinder unit with two pistons, in particular an auxiliary piston and a second piston, in order to supply brake circuits with a pressure medium via a valve device, wherein one of the pistons, in particular the auxiliary piston, can be actuated by means of the actuation device; a second piston-cylinder unit comprising an electric motor-powered drive, a transmission, and at least one piston in order to supply pressure medium to at least one of the brake circuits via a valve device; and a motor pump unit with a valve device in order to supply pressure medium to the brake circuits. The brake system may further include a hydraulic travel simulator which is connected to a pressure or working chamber of the first piston-cylinder unit.

A brake system may include an actuation device, in particular a brake pedal; a first piston-cylinder unit with two pistons, in particular an auxiliary piston and a second piston, in order to supply brake circuits with a pressure medium via a valve device, wherein one of the pistons, in particular the auxiliary piston, can be actuated by means of the actuation device; a second piston-cylinder unit comprising an electric motor-powered drive, a transmission, and at least one piston in order to supply pressure medium to at least one of the brake circuits via a valve device; and a motor pump unit with a valve device in order to supply pressure medium to the brake circuits. The brake system may further include a hydraulic travel simulator which is connected to a pressure or working chamber of the first piston-cylinder unit.

The present invention obtains a controller and a control method capable of simultaneously achieving freedom of driving and safety of a lean vehicle.

In a controller (60) and the control method according to the present invention, a control section of the controller (60) can execute anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of a lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent.

The present invention obtains a controller and a control method capable of simultaneously achieving freedom of driving and safety of a lean vehicle.

In a controller (60) and the control method according to the present invention, a control section of the controller (60) can execute anti-lock braking operation for suppressing locking of a rear wheel (4) by increasing/reducing a braking force or drive power of the rear wheel (4) of a lean vehicle (100) and thereby controlling a slip degree of the rear wheel (4) to a slip degree target, and in the case where a slide request, which is a request by a rider to make the lean vehicle (100) slide, is present, implements a slide control mode in which the anti-lock braking operation is performed by setting the slip degree target to be higher than that of a case where the slide request is absent.

A lane departure prevention system includes a controller configured to control a braking force of vehicle wheels such that a lane departure prevention yaw moment is applied to a vehicle. The controller determines whether there is a likelihood that the vehicle enters a spinning state based on at least one of a difference between an actual yaw rate and a normative yaw rate of the vehicle calculated based on a steering angle, a vehicle speed, and the lane departure prevention yaw moment, and a degree of braking slip of a turning inside wheel when the lane departure prevention yaw moment is a yaw moment for preventing departure of the vehicle from a lane to a turning outside, and applies a spin prevention yaw moment to the vehicle when it is determined that there is a likelihood that the vehicle will enter the spinning state.