Lean Vehicle Brake Control Using Posture-Based Force Limits
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Solution Overview
Problem
Lean vehicles, such as motorcycles, face instability when emergency brake assist systems increase braking force automatically, leading to safety concerns due to loss of balance.
Innovation Solution
A controller that adjusts the braking force of lean vehicles based on collision possibility and vehicle posture information, limiting the degree of increase in braking force to prevent rapid instability during emergency brake assist operations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If emergency brake assist increases braking force automatically to improve safety, then collision avoidance capability is improved, but vehicle posture stability deteriorates
Solution Approach 1:
The control device dynamically adjusts the upper limit value of braking force increase based on real-time posture information parameters (lean angle, pitch angle, roll angle). When the vehicle is in a stable posture, higher braking force increase is permitted; when posture deviates from stable ranges, the upper limit is reduced to prevent balance loss, thus resolving the contradiction between safety improvement and posture stability.
2Speed
If braking force is increased rapidly to respond to collision risk, then collision avoidance effectiveness is improved, but vehicle balance is lost
Solution Approach 1:
The system implements dynamic control where the braking force increase is not fixed but adapts continuously based on posture feedback. The upper limit value of braking force increase is adjusted in real-time according to posture information, allowing rapid response when stable and gradual increase when unstable, thus maintaining both response speed and vehicle balance.
3Reliability
If automatic brake control is implemented without rider input consideration, then safety is improved, but rider control authority is reduced
Solution Approach 1:
The control device incorporates feedback from both the brake operation detection section (rider's input) and posture information acquisition section. The system monitors rider's brake operation and adjusts the braking force increase within dynamically determined upper limits based on posture, ensuring that automatic control enhances safety while respecting and working with rider input rather than overriding it completely.
Data Source
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AI summary
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) .