CONTROL DEVICE AND CONTROL METHOD FOR RIDER ASSISTANCE SYSTEM

The present disclosure provides a controller and a control method that appropriately assist a rider of a lean vehicle. [0002] A controller has an acquisition section and an execution section. The acquisition section acquires an environment information about an environment around the lean vehicle (100). The acquisition section acquires the environment information in response to an output from an environment detector mounted to the lean vehicle (100) or via a wireless communication with another vehicle or an infrastructure equipment. The execution section executes a driving assistance operation for the rider according to the environment information. The acquisition section acquires a reference clearance information by using a posture information that is information about a posture of the lean vehicle (100). The reference clearance information is information about a reference clearance (S) that is a reference used in a determination whether there is a space through which the lean vehicle (100) slips or a determination whether it is safe for the lean vehicle (100) to slip through. The execution section executes the driving assistance operation based on the reference clearance information.