Abstract: The present disclosure obtains a controller and a control method capable of appropriately improving safety of a lean vehicle. According to the controller and the control method, the controller has a control section (62) configured to perform a brake control to increase a braking force of the lean vehicle (100). The control section (62) performs the brake control based on a collision possibility that is determined in response to an output result from an environment sensor (44). The control section (62), in the brake control, controls the braking force based on posture information of the lean vehicle (100).

Abstract: The present invention provides a controller and a control method that improve safety of a lean vehicle. The controller (60) has a control section (62) and a setting section (63). The control section (62) performs a brake control to increase a braking force of the lean vehicle (100) based on a collision possibility that is determined in response to an output result from an environment sensor (44). The setting section (63) sets a distribution of braking force between the braking force applied to a front wheel (3) and the braking force applied to a rear wheel (4) in the brake control. In the brake control, the control section (62) controls the braking force applied to the front wheel (3) and the braking force applied to the rear wheel (4) based on the distribution of braking force set by the setting section (63).