{
  "$type": "site.standard.document",
  "description": "An object of the present teaching is to provide a leaning vehicle which leans rightward in a vehicle left-right direction when turning right and leans leftward in the vehicle left-right direction when turning left, and includes a brake assist control device configured to perform control different…",
  "path": "/patents/1412199",
  "publishedAt": "2023-07-26T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T7/22",
    "YAMAHA MOTOR CO LTD [JP]"
  ],
  "textContent": "An object of the present teaching is to provide a leaning vehicle which leans rightward in a vehicle left-right direction when turning right and leans leftward in the vehicle left-right direction when turning left, and includes a brake assist control device configured to perform control different from known control schemes. In scenes in each of which a state where a front wheel braking force and a rear wheel braking force not including the assisting braking force are generated transitions to a state where a front wheel braking force and a rear wheel braking force including the assisting braking force are generated, based on the front wheel brake operation amount, the rear wheel brake operation amount, and the margin, the brake assist control device 1011 controls the assisting braking force so that the state transitions of the front wheel braking force and the rear wheel braking force include at least one of the state transition 1 or the state transition 2 described below. State transition 1: a state where the rear wheel braking force is larger than the rear wheel braking force in the ideal braking force distribution C1 when one rider rides on the leaning vehicle 1001 transitions to a state of coming close to the ideal braking force distribution C1 when one rider rides so that at least the front wheel braking force increases, and then transition to a state of changing along the ideal braking force distribution when one rider rides so that the front wheel braking force and the rear wheel braking force increase occurs. State transition 2: a state where the front wheel braking force is larger than the front wheel braking force in the ideal braking force distribution C1 when one rider rides on the leaning vehicle transitions to a state of coming close to the ideal braking force distribution C1 when one rider rides so that at least the rear wheel braking force increases, and then transition to a state of changing along the ideal braking force distribution when one rider rides so that the front wheel braking force and the rear wheel braking force increase occurs.",
  "title": "LEANING VEHICLE EQUIPPED WITH BRAKE ASSIST CONTROL DEVICE"
}