| 摘要 |
PROBLEM TO BE SOLVED: To suppress yaw moment generated by lack as much as possible even at any requirement braking force and to ensure the maximum braking force even when braking force generation function of at least one wheel is lacked. SOLUTION: When failure is generated on a brake device or a braking force control part, target braking force to a normal brake device is calculated based on a detection result of a failure detection part such that a total of the braking force generated on the brake device of the respective wheels becomes equal to the requirement braking force as much as possible. COPYRIGHT: (C)2008,JPO&INPIT
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