| 摘要 |
PROBLEM TO BE SOLVED: To provide a brake-intervened control method for securing the optimal traction to be continued in an off-road in a four-wheel drive vehicle. SOLUTION: This invention is related to the method and control device provided with a brake control device including a control device and separately energizable brakes provided in each wheel, generating the signal for controlling each brake on the basis of the input information so as to control the brake intervention in a four-wheel drive vehicle. By this invention, wheel compression, drawing displacement or wheel grounding force of each wheel are detected and the wheel signal is generated on the basis of the wheel elastic displacement and the wheel grounding force or on the basis of a variable led from the wheel elastic displacement and the wheel grounding force. The when signal is supplied to the control device, and the control device generates the signal for controlling each brake on the basis of each wheel signal as the input information.
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