| 摘要 |
<p>A control device 20A has front and rear wheel speed obtaining unit 21, 22 that obtain front and rear wheel speed; an estimated motorcycle speed calculation unit 23 by using the front and rear wheel speed; an estimated vehicle body deceleration calculation unit 24 by using only the front wheel speed; an ABS control unit 25; a rear wheel lift-up judgment unit 26 for judging the possibility of the rear wheel lift-up when a state, in which the estimated vehicle body deceleration is higher than a reference deceleration, lasts for a period of time longer than a reference period of time; and a front wheel braking force control unit 27 that reduces a braking force of the front wheel when it is judged that the possibility of the rear wheel lift-up.</p> |
