Antilock brake control process for vehicle

摘要

In an antilock brake control for a vehicle for individually regulating braking forces of left and right wheel brakes in accordance with a locking tendency of left and right wheels during braking of the vehicle, a steering angle, a vehicle speed and a yaw rate of the vehicle are detected. A reference yaw rate is determined based on the steering angle and the vehicle speed. When a locking tendency of only an outer wheel during turning of the vehicle, of the left and right wheels is detected during turning of the vehicle, the braking force for the outer wheel is regulated in accordance with the tendency of the outer wheel, and the braking force for an inner wheel during turning of the vehicle is regulated in accordance with a difference between the reference yaw rate and the detected actual yaw rate. Thus, it is possible to enhance the turning characteristic while avoiding a loss in total braking force during turning of the vehicle.