| 摘要 |
PURPOSE:To make a reference slip factor smaller during steerage and cornering force large instead as well as to improve steering stability ever so better, by alterning the reference slip factor according to a steering state detecting signal. CONSTITUTION:A steering state detecting signal out of a steering state detecting device 3 is inputted into a reference slip factor altering device 4. If this device 4 judges that a car is in a steering state by this signal, it alters a reference slip factor lambdas to a smaller value. In addition a yaw rate detecting signal out of a yaw rate detecting device 5 is inputted into the reference slip factor altering device 4. And, when the yaw rate detecting signal is inputted despite during non-sterage, this reference slip factor altering device 4 makes the reference slip factor for front wheels larger but that for rear wheels smaller, respectively. In this connection, in other cases, the reference slip factor for all wheels is set to a larger value.
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