| 摘要 |
PROBLEM TO BE SOLVED: To improve capability of escaping from a stuck state.SOLUTION: When detecting a one-wheel stuck state where one side of right and left driving wheels skids, S10 and S20, a brake ECU determines whether or not a ground-contact surface can be dug down by rotation of a stuck wheel being a wheel skidding, S30 and S40. When determining the ground-contact surface to be able to be dug down, the brake ECU locks a non-stuck wheel and rotates the stuck wheel, S50. Thereby, the ground-contact surface of the stuck wheel is dug down. When a frictional coefficient of the ground-contact surface of the stuck wheel is increased, the brake ECU releases locking of the non-stuck wheel, S80. Consequently, a vehicle can escape from the stuck state by effectively using the right and left driving wheels.SELECTED DRAWING: Figure 2 |
