| 摘要 |
PROBLEM TO BE SOLVED: To perform a positive prohibition against execution of undesirable under-steering restriction control caused by a default of a yawing rate detecting means. SOLUTION: A slip angle differential value of a vehicle body is calculated by a slip angle differential value calculating means 34. A braking force application prohibiting means 35 prohibits application of a braking force with braking force application means 33 under either a condition in which a yaw rate detected value is a positive value and the slip angle differential value is more than a positive judgement threshold value or a condition in which the yaw rate detected value is a negative value or the slip angle differential value is less than the negative determination threshold value. COPYRIGHT: (C)2009,JPO&INPIT
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