{
  "$type": "site.standard.document",
  "description": "A driving assist control device 1011 for obstacles, which is included in a leaning vehicle 1001, is configured to control the assisting braking force so that at least one of the relationship 1 and the relationship 2 described below is established. Relationship 1: in a state in which braking force…",
  "path": "/patents/1412198",
  "publishedAt": "2023-11-01T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T7/22",
    "YAMAHA MOTOR CO LTD [JP]"
  ],
  "textContent": "A driving assist control device 1011 for obstacles, which is included in a leaning vehicle 1001, is configured to control the assisting braking force so that at least one of the relationship 1 and the relationship 2 described below is established. Relationship 1: in a state in which braking force including the assisting braking force is generated by both a front wheel brake and a rear wheel brake or by only the front wheel brake, based on at least the front wheel brake operation amount and a margin obtained based on the relationship between the obstacle 2001 and the host vehicle 1001, at least the front wheel braking force generated by the front wheel brake is decreased in response to the decrease in a front wheel brake operation amount. Relationship 2: in a state in which braking force including the assisting braking force is generated by both a front wheel brake and a rear wheel brake or by only the rear wheel brake, based on at least the rear wheel brake operation amount and a margin obtained based on the relationship between the obstacle and the host vehicle, at least the rear wheel braking force generated by the rear wheel brake is decreased in response to the decrease in a rear wheel brake operation amount.",
  "title": "LEANABLE VEHICLE EQUIPPED WITH RIDER ASSISTANCE CONTROL DEVICE FOR OBSTACLES"
}