The invention obtains a controller and a control method capable of improving safety by an automatic braking operation while preventing a motorcycle from falling over. The invention also obtains a brake system that includes such a controller. In the controller and the control method according to the invention, a control mode that makes the motorcycle execute the automatic braking operation is initiated in response to trigger information generated in accordance with peripheral environment of the motorcycle. In the control mode, distribution of an automatic braking force to a front wheel and a rear wheel is controlled in accordance with travel posture of the motorcycle, and the automatic braking force is a braking force that is applied to the wheels of the motorcycle by the automatic braking operation.

A method for determining a slip angle λ.sub.r of a rear wheel of a single-track motor vehicle for the purpose of traction control of the rear wheel of the single-track motor vehicle by means of a closed loop control Is provided. The slip angle λ.sub.r of the rear wheel is determined as a feedback value of the closed loop using at least one of three model-based steps. A slip angle λ.sub.r1, λ.sub.r2 or λ.sub.r3 is determined by one of the three steps representing the slip angle λ.sub.r or the slip angle λ.sub.r is determined from at least two of the slip angles λ.sub.r1, λ.sub.r2 and λ.sub.r3.

A motor control device includes a drive control device that controls turning on/off of a motor, and a voltage obtaining device that obtains a voltage across terminals of the motor. The drive control device determines whether or not the motor drive signal is OFF (ST01). If the determination is Yes, the drive control device determines whether or not the voltage across the terminals, which is obtained by the voltage obtaining device, has decreased and reached a target voltage (ST02). If the determination at ST02 is Yes, an ON time is set on the basis of the immediately preceding OFF time (ST03), and the motor drive signal is switched from OFF to ON (ST04). After the ON time elapses, the motor drive signal is switched from ON to OFF (ST05). Low-rotational-speed motor control can be performed while suppressing heat generation in a motor relay.

A brake control device includes an electronic controller that executes an ABS control on a rotating body of a human-powered vehicle. The electronic controller executes the ABS control based on a relationship between a first speed and a second speed related to the human-powered vehicle. The first speed includes a speed of the human-powered vehicle based on information of a traveling environment. The second speed includes a speed of the human-powered vehicle based on a rotational speed of the rotating body.

A motorcycle (saddle type vehicle) includes a vehicle body frame, an engine, a bracket and an ignition coil. The engine is mounted to the vehicle body frame. The bracket is mounted to the vehicle body frame. The ignition coil is mounted to the bracket. The bracket includes a frame mounting part, an extension part, and an ignition coil mounting part. The frame mounting part is mounted to the vehicle body frame. The extension part extends away from the frame mounting part toward an outer side in a left-right direction. The ignition coil is mounted to the ignition coil mounting part such that the ignition coil is positioned in the outer side in the left-right direction of the vehicle body frame.

A brake control device includes an electronic controller that controls a brake unit configured to brake a rotation body of a human-powered vehicle. The electronic controller limits ABS control in a case where a first predetermined condition for executing ABS control and a second predetermined condition for limiting ABS control are satisfied. The second predetermined condition is set based on limitation information that differs from information related to a traveling speed of the human-powered vehicle.

The present invention obtains a controller and a control method capable of appropriately executing adaptive cruise control for a straddle-type vehicle while securing a driver's comfort.

In the controller and the control method according to the present invention, when braking forces are generated on wheels of the straddle-type vehicle during adaptive cruise control, in which the straddle-type vehicle is made to travel according to a distance from the straddle-type vehicle to a preceding vehicle, motion of the straddle-type vehicle, and the driver's instruction, at a braking start time point at which the braking force starts being generated on each of the wheels, braking force distribution between the front and rear wheels is brought into an initial state where the braking force generated on the rear wheel is larger than the braking force generated on the front wheel. Then, a distribution ratio for the front wheel in the braking force distribution between the front and rear wheels is increased with a lapse of time.

A hydraulic-type time-difference brake apparatus includes at least a driving device, a housing, a first pump mechanism and a second pump mechanism as main components combined together. The driving device is provided with a first driving rod, a second driving rod, a brake starting member and a housing, one end of the first driving rod is connected to the brake starting member, and the other end is connected to the first pump mechanism, the first driving rod can push the first pump mechanism and output the first braking force to the rear wheel brake; one end of the second driving rod is connected to the brake starting member by a sliding device, and the other end is connected to the second pump mechanism, the second driving rod can push the second pump mechanism and output the second braking force to the front wheel brake. The sliding process of the sliding device can delay the time the brake starting member activates the second driving rod, so that the start time between the first driving rod and the second driving rod will have a time difference. In this way, the driver can cause the rear wheel brake and the front wheel brake to generate a time-difference brake by only one braking operation, the rear wheel brake can first generate a braking force on the rear wheel to reduce the speed of the rear wheel, then the front wheel brake will generate a larger braking force on the front wheel more than the rear wheel after a time difference to improve the safety of the vehicle.

The present invention obtains a controller capable of improving safety of a motorcycle.

The controller that controls vehicle body behavior of the motorcycle includes: an acquisition section that acquires trigger information generated in accordance with peripheral environment of the motorcycle; and an execution section that initiates a control mode making the motorcycle execute an automatic brake operation in accordance with the trigger information acquired by the acquisition section and makes the motorcycle generate a braking force. The acquisition section further acquires seat load information that is information of a load received by a seat of the motorcycle, and the execution section changes the automatic brake operation, which is executed in the control mode, in accordance with the seat load information acquired by the acquisition section.

The present invention obtains a controller and a control method capable of appropriately stabilizing a posture of a straddle-type vehicle.

In the controller and the control method according to the present invention, when the straddle-type vehicle jumps, automatic posture control for controlling the posture of the straddle type vehicle by increasing or reducing a rotational frequency of a wheel is executed in accordance with posture information at the time when the straddle-type vehicle jumps. Furthermore, in the case where it is determined whether a driver has intention to control the posture of the straddle-type vehicle at the time when the straddle-type vehicle jumps without relying on the automatic posture control and where it is determined that the driver has the intention, the automatic posture control is prohibited.