| 摘要 |
PROBLEM TO BE SOLVED: To enable effects by a phase lag of a car body deceleration degree to a wheel deceleration degree to be excluded even when the wheel decelerating degree is fed back to control the braking force in such a manner that the wheel decelerating degree may agree with a target decelerating degree. SOLUTION: When a decelerating degreeαv for feed-back control is calculated by applying a phase lag compensation of the car body decelerating degree to the wheel decelerating degree to the wheel decelerating degree Aw (calculated in S2) in S3, a car body velocity VSP which is used for determining a time constant for the phase lag compensation is acquired first in S31, and at the same time, a wheel braking slip ratio Slip is acquired. Then, in S32, when the time constant Tph is determined from VSP and Slip, variation characteristics of a road surface frictional coefficient to the slip ratio Slip on a highμroad surface are stored in advance, and the variation ratio Kμofμto Slip is calculated. In addition, the time constant Tph for the phase lag compensation is determined from VSP and Kμby using a relational expression, Tph∝VSP/Kμ. Then, in S33,αv is calculated by passing Aw through a phase compensator of characteristics, Fph(=1/(Tph+1)). In S4 to S14, the braking force is controlled in such a manner thatαv may agree with the target decelerating degree. COPYRIGHT: (C)2006,JPO&NCIPI
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