CONTROLLER AND CONTROL METHOD

The present invention provides a controller and a control method capable of achieving appropriate cornering of a saddled vehicle during execution of adaptive cruise control. During the execution of adaptive cruise control for driving a saddled vehicle according to the distance from the saddled vehicle to the vehicle ahead, the movement of the saddled vehicle, and the instruction of the driver, thecontroller and control method according to the present invention control, on the basis of the lateral acceleration of the saddled vehicle, at least one among the braking force distribution, which isthe front-rear wheel distribution of the braking force generated at the wheels of the saddled vehicle, and the driving force distribution, which is the front-rear wheel distribution of the driving force transmitted to the wheels of the saddled vehicle. 本发明可以得到能够在跨骑型车辆的自适应巡航控制的执行中实现适当的转弯的控制装置及控制方法。本发明的控制装置及控制方法中，在使跨骑型车辆与从该跨骑型车辆至前方行进车辆的距离、该跨骑型车辆的动作及骑手的指示对应地行进的自适应巡航控制的执行中，在跨骑型车辆的车轮产生的制动力的前后轮的分配即制动力分配或被向跨骑型车辆的车轮传递的驱动力的前后轮的分配即驱