| 摘要 |
PURPOSE:To make rectilinear braking performable, by operating a target slip factor, and setting each braking force so as to cause a braking force difference between both low and high friction road surface sides to be smaller than opposing force by cornering force. CONSTITUTION:A target slip factor operational device C finds a target slip factor from body speed and wheel speed on the basis of revolving speed of each wheel to be detected by each car speed detecting device A. A result of this target slip factor is inputted into a braking force setting device D, whereby each braking force of two braking devices B is set so as to cause a difference between the braking force by the braking device B on one side at the low friction road surface and that of the braking device B on the other at the high friction road surface side to become smaller than opposing force by cornering force, and each braking device B is driven by a controling device E. Thus yaw moment to be produced by this braking force difference between both low and high friction road surface sides becomes smaller than the maximum of the cornering force, so that rectilinear braking in the vehicle is made performable.
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