| 摘要 |
<p>PROBLEM TO BE SOLVED: To prevent braking force from being unbalanced between wheels regardless of a change in load burden and a difference in driving torque. SOLUTION: A target vehicle deceleration XB* is operated (1) based on brake pedal footing force FB, a target wheel braking force for generating the deceleration Xg * in response to load burden per each wheel, is computed (2), and concurrently a maximum engine braking command is thereby issued. Next, a vehicle is brought (3) into a maximum engine braking condition, engine output torque is then obtained. And driving torque for a right and a left driving wheel is individually estimated (4). Subsequently a driven wheel target braking force is converted as is into driven wheel target braking torque, driving wheel target braking torque is corrected (5) by corresponding driving torque so as to be assigned as driving wheel target braking torque.</p> |
