{
  "$type": "site.standard.document",
  "description": "A brake assist control device (1011) is configured to acquire (i) at least one of a leaning angular speed that is a time change rate of the leaning angle of the leaning vehicle (1001) or a leaning angular acceleration that is a time change rate of the leaning angular speed of the leaning vehicle…",
  "path": "/patents/1412197",
  "publishedAt": "2023-09-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T7/22",
    "YAMAHA MOTOR CO LTD [JP]"
  ],
  "textContent": "A brake assist control device (1011) is configured to acquire (i) at least one of a leaning angular speed that is a time change rate of the leaning angle of the leaning vehicle (1001) or a leaning angular acceleration that is a time change rate of the leaning angular speed of the leaning vehicle (1001), (ii) a margin acquired based on the relationship between the obstacle (2001) and the host vehicle (1001), and (iii) a brake operation amount indicating an amount of a brake operation by the rider. The brake assist control device (1011) controls the assisting braking force so that a first braking force which is the maximum braking force generated in response to a first brake operation amount performed by the rider in a first scene being larger than a second braking force which is the maximum braking force generated in response to the first brake operation amount performed by the rider in a second scene, based on the at least one of the leaning angular speed or the leaning angular acceleration, the margin acquired based on the relationship between the obstacle (2001) and a host vehicle (1001), and the brake operation amount performed by the rider, the first scene being a scene in which the rider deals with an obstacle (2001) by a braking force generated by a brake operation by the rider without changing a traveling direction of the leaning vehicle (1001), and the second scene being a scene in which the rider deals with the obstacle (2001) by both a change of the traveling direction of the leaning vehicle and the braking force generated by the brake operation by the rider.",
  "title": "LEANING VEHICLE COMPRISING BRAKE ASSIST CONTROL DEVICE"
}