Abstract: 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.

Abstract: A controller and a control method capable of optimizing a braking force generated by a brake system are obtained. During deceleration of a motorcycle, the controller and the control method according to the invention obtain an estimated vehicle body speed Vbe of the motorcycle that is estimated on the basis of speed information of a wheel, obtain a corrected vehicle body speed Vbc that is obtained by correcting an actually-measured vehicle body speed of the motorcycle to a low-speed side, cause the brake system to generate the braking force that corresponds to the estimated vehicle body speed Vbe in a state where the estimated vehicle body speed Vbe is higher than the corrected vehicle body speed Vbc, and cause the brake system to generate the braking force that corresponds to the corrected vehicle body speed Vbc in a state where the estimated vehicle body speed Vbe is lower than the corrected vehicle body speed Vbc.

Abstract: A controller and a control method capable of improving stability of a vehicle while improving usability of a brake system by a user. The controller includes: an operation state determination section determining an operation state of the brake system by the user; a slippage degree acquisition section acquiring a degree of slippage of a wheel; a target setting section setting a target of the degree of the slippage; and a braking force control execution section increasing or decreasing a braking force generated on the wheel on the basis of a comparison result between the degree of the slippage and the target in the case where the operation state determination section determines that the operation state is an operation state to instruct gradual deceleration.

Abstract: A controller and a control method capable of optimizing a braking force generated by a brake system are obtained. During deceleration of a motorcycle, the controller and the control method according to the invention obtain an estimated vehicle body speed Vbe of the motorcycle that is estimated on the basis of speed information of a wheel, obtain a corrected vehicle body speed Vbc that is obtained by correcting an actually-measured vehicle body speed of the motorcycle to a low-speed side, cause the brake system to generate the braking force that corresponds to the estimated vehicle body speed Vbe in a state where the estimated vehicle body speed Vbe is higher than the corrected vehicle body speed Vbc, and cause the brake system to generate the braking force that corresponds to the corrected vehicle body speed Vbc in a state where the estimated vehicle body speed Vbe is lower than the corrected vehicle body speed Vbc.

Abstract: The present invention is to provide a brake hydraulic pressure control device and a brake hydraulic pressure control method capable of preventing a rear wheel from lifting. Also, the present invention is to provide a saddle-type vehicle including the brake hydraulic pressure control device. According to the present invention, there is provided a brake hydraulic pressure control device of a saddle-type vehicle, which is configured to execute anti-lock brake control and determines the time for one opening of a hydraulic pressure adjusting valve when the pressure of a brake fluid in a wheel cylinder is increased while the hydraulic pressure adjusting valve is repeatedly opened and closed, in correspondence to the pressure of the brake fluid in a master cylinder and an input gradient, which is an increment per unit time of the amount of operation of an input unit of a brake.

Abstract: Provided is a vehicle body behavior control device and a method of controlling behavior of a vehicle body which can reduce unstable behavior of the vehicle body. A vehicle body behavior control device incorporated into a vehicle body having a plurality of wheels includes: a brake mechanism which controls behavior of the wheels; and a control part which controls an interlocking brake operation in which a braking force is applied to the plurality of wheels using the brake mechanism when an operation for applying braking to any one of the wheels is performed based on a gradient value ? of a road surface on which the vehicle body travels.

Abstract: Provided are a vehicle body behavior control device which can reduce unstable behavior of a vehicle body and a method of controlling behavior of a vehicle body which can reduce unstable behavior of the vehicle body. A vehicle body behavior control device incorporated into a vehicle body having a plurality of wheels includes: a behavior control mechanism which controls behavior of the vehicle body; and a control part which controls an operation of the behavior control mechanism based on an axle load applied to the wheel calculated using a gradient value ? of a road surface.

Abstract: A controller and a control method capable of improving stability of a vehicle while improving usability of a brake system by a user. The controller includes: an operation state determination section determining an operation state of the brake system by the user; a slippage degree acquisition section acquiring a degree of slippage of a wheel; a target setting section setting a target of the degree of the slippage; and a braking force control execution section increasing or decreasing a braking force generated on the wheel on the basis of a comparison result between the degree of the slippage and the target in the case where the operation state determination section determines that the operation state is an operation state to instruct gradual deceleration.

Abstract: Provided is a vehicle body behavior control device and a method of controlling behavior of a vehicle body which can reduce unstable behavior of the vehicle body. A vehicle body behavior control device incorporated into a vehicle body having a plurality of wheels includes: a brake mechanism which controls behavior of the wheels; and a control part which controls an interlocking brake operation in which a braking force is applied to the plurality of wheels using the brake mechanism when an operation for applying braking to any one of the wheels is performed based on a gradient value ? of a road surface on which the vehicle body travels.

Abstract: Provided are a vehicle body behavior control device which can reduce unstable behavior of a vehicle body and a method of controlling behavior of a vehicle body which can reduce unstable behavior of the vehicle body. A vehicle body behavior control device incorporated into a vehicle body having a plurality of wheels includes: a behavior control mechanism which controls behavior of the vehicle body; and a control part which controls an operation of the behavior control mechanism based on an axle load applied to the wheel calculated using a gradient value ? of a road surface.

Abstract: A hydraulic apparatus and a control method for a hydraulic apparatus that can improve the accuracy with which the pressure of a brake fluid is controlled while suppressing calculation loads on a control system are provided. When performing an n-th (n?2) opening and closing operation of a regulating valve in a preset period, the control system determines the holding time of an opening and closing state in the n-th opening and closing operation of the regulating valve based on the pressure value of a wheel cylinder in the n-th opening and closing operation of the regulating valve and the target pressure value of the wheel cylinder in an m-th (m<n) opening and closing operation in the period and performs the n-th opening and closing operation of the regulating valve based on the holding time.

Abstract: There is provided a two-wheeled vehicle overturn prevention method, wherein maximum allowable lean angles corresponding to vehicle body velocities are preset in relation to lean angles of a vehicle body, and in a case where an actual lean angle of the vehicle body exceeds a maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body or in a case where an estimated lean angle of the vehicle body after a predetermined amount of time exceeds or looks to exceed a maximum allowable lean angle corresponding to an estimated vehicle body velocity, the two-wheeled vehicle overturn prevention method is adapted to accelerate the vehicle body or keep the vehicle body from decelerating.

Abstract: There is provided a two-wheeled vehicle overturn prevention method, wherein maximum allowable lean angles corresponding to vehicle body velocities are preset in relation to lean angles of a vehicle body, and in a case where an actual lean angle of the vehicle body exceeds a maximum allowable lean angle corresponding to an actual vehicle body velocity of the vehicle body or in a case where an estimated lean angle of the vehicle body after a predetermined amount of time exceeds or looks to exceed a maximum allowable lean angle corresponding to an estimated vehicle body velocity, the two-wheeled vehicle overturn prevention method is adapted to accelerate the vehicle body or keep the vehicle body from decelerating.

Abstract: A brake control device for a brake system. The control device can perform both an interlocking brake control and an antilock brake control. The brake system includes a front-wheel hydraulic circuit, a front-wheel-side braking part; a rear-wheel hydraulic circuit, a rear-wheel-side braking part; and an electrically-operated pump which pressurizes the brake fluid. The brake control device includes a usual voltage mode where the interlocking brake control or the anti-lock brake control is performed when the supply voltage is a first voltage or more, and a low voltage mode where at least one of the interlocking brake control and the anti-lock brake control is performed in a limited manner when the supplied voltage is a second, lower voltage. An operation mode is changed from the usual voltage mode to the low voltage mode when it is determined that the supply voltage becomes lower than the first voltage.

Abstract: A brake control method. During ABS control, a control sequence, other than the conventional control sequence, based on the slip ratio and so forth resulting from the measurement value of a wheel speed sensor, and a minimum amount of pressure increase or a minimum amount of pressure decrease is ensured. In another embodiment, a control sequence independent from a control sequence based on the measurement value of a wheel speed sensor, sets allowable ranges relating to amounts of change in the pressure of a wheel cylinder, monitors the actual pressure value with a pressure sensor at the time of brake control, and, at a time when the pressure inside the wheel cylinder has deviated from these allowable ranges, drives an actuator such as an electromagnetic valve and controls in such a way that the pressure inside the wheel cylinder falls within an allowable range.

Abstract: It is an object of the present invention to control unstable behavior of a vehicle body that arises when braking during turning.

Abstract: A brake control method for a hydraulic brake device equipped with an actuator that automatically regulates braking liquid pressure in a wheel cylinder of a vehicle without driver intervention. The method includes: (a) calculating a time period in which holding or decreasing brake hydraulic pressure is continuously performed to the wheel cylinder; and (b) controlling the actuator such that, an increasing pressure and decreasing pressure to the wheel cylinder after the calculated time period has reached a predetermined time, the amount of the pressure increase and the amount of the pressure decrease are the same.

Abstract: To provide an ABS control system and software with an automatic parameter calibration function. An ABS control system according to the present invention includes an electronic control unit (ECU), a wheel speed sensor, and a brake pressure sensor. The wheel speed sensor and the brake pressure sensor measure wheel speed and brake pressure during ABS braking, and the ABS control system automatically calibrates an internal parameter used in ABS control in response to the wheel speed and brake pressure measurement results.

Abstract: A motorcycle comprises an electricity accumulator configured to supply electric power to driving devices required for driving of the motorcycle and to non-driving devices; a voltage detector configured to detect a voltage of the electricity accumulator; and a power supply controller configured to control supply of the electric power; the non-driving devices including electric motor devices in an electric motor braking system configured to be electrically driven to assist braking and non-driving electric motor devices other than the electric motor devices in the electric motor braking system; and the power supply controller being configured to inhibit the electric power from being supplied to at least one specified non-driving electric motor device of the non-driving electric motor devices, when the voltage of the electricity accumulator which is detected by the voltage detector is not more than a first predetermined voltage.

Abstract: It is an object of the present invention to control unstable behavior of a vehicle body that arises when braking during turning.