| 摘要 |
PROBLEM TO BE SOLVED: To prevent insufficient increase of the braking force by a wheel brake on a road surface side of the high friction coefficient when reaching a friction coefficient split state. SOLUTION: In a state of the slow-increasing mode based on the discrimination of a friction coefficient discrimination means 58 that a left-front wheel control mode setting means 59A and a right front wheel control mode setting means 59C are in the state of low friction coefficient during the anti-lock brake control, when a split state detection means 66 detects the friction coefficient split state in which the friction coefficient of a traveling road surface is different between right and left wheels based on the difference in the wheel corresponding vehicle body speed estimated respectively by wheel corresponding vehicle body speed estimation means 55A, 55C, the control mode setting means changes the control mode from the slow increasing mode to the rapid increasing mode corresponding to the front wheel on the high-speed side out of the left-front wheel control mode setting means 59A and the right front wheel control mode setting means 59C. COPYRIGHT: (C)2009,JPO&INPIT
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