| 摘要 |
<P>PROBLEM TO BE SOLVED: To more appropriately suppress vibration due to a driving wheel speed when lock suppression control of a brake device is executed. <P>SOLUTION: When ABS control is executed by a brake ECU for preventing slippage due to wheel lock caused by braking operation during traveling (time t1), and a slip speed Vs obtained by subtracting a driving wheel speed Vd from a presumed vehicle body speed Vb reaches a torque output threshold or more (time t2), as torque for matching the driving wheel speed Vd to the presumed vehicle body speed Vb, basic torque is set so as to become larger as a maximum slip speed Vsmax which is a maximum value of the slip speed Vs after the ABS control is executed gets larger, and the torque corresponding to the basic torque is output from a motor (time t2 to t5). As a result, the torque based on the maximum slip speed Vsmax without vibration is output from the motor as compared to a case where the torque based on the slip speed Vs with vibration is output from the motor. <P>COPYRIGHT: (C)2013,JPO&INPIT |
