| 摘要 |
PROBLEM TO BE SOLVED: To prevent the extension of a braking distance due to deterioration of braking force even in a case where a sharing load ratio of each wheel cannot be estimated correctly, like a case where load conditions are largely changed. SOLUTION: After determining the maximum slip wheel which is a wheel having maximum wheel slip of four wheels, the difference between a wheel slip of the maximum wheel slip and a wheel slip of a control object wheel is operated to set each wheel target braking force correction amount in response to the difference. When the difference exceeds a prescribed value, in concrete, each wheel target braking force correction amount is increased by adding a given increased amount to a last value of each wheel target braking force correction amount without being processed. When the difference does not exceeds a prescribed value, by employing the last value of each wheel target braking force correction amount, a target braking force is enhanced so as to bring a wheel slip of each wheel closer to the wheel slip of the maximum slip wheel by response according to the difference between wheel slips. COPYRIGHT: (C)2009,JPO&INPIT
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