| 摘要 |
PROBLEM TO BE SOLVED: To effectively utilize a normal electric braking device while the steering stability of a vehicle is kept favorable when abnormality occurs on at least one of the electric braking devices in the brake controlling device which controls a plurality of the electric braking devices. SOLUTION: When a wheel which corresponds to an abnormal electric braking device is a turning internal wheel, even if a right and left brake force difference occurs, a yaw moment generated resulting from the brake force difference faces a direction to suppress spinning, and the steering stability is not spoiled. Therefore, the braking force for a turning external wheel is made larger. On the contrary, when the wheel which corresponds to the abnormal electric braking device is a turning external wheel, the braking force for the turning internal wheel is made smaller. Thus, the normal electric braking device can effectively be utilized while keeping the steering stability favorable. COPYRIGHT: (C)2006,JPO&NCIPI
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