| 摘要 |
PROBLEM TO BE SOLVED: To effectively utilize a normal braking device while keeping the steering stability of a vehicle favorable when abnormality occurs on at least one main braking device in a brake controlling device for which both of the main braking device and a subsidiary braking device are provided on one wheel. SOLUTION: When an abnormality occurs on a service braking device (the judgement of S71 is YES), a parking brake is operated (S73), and at the same time, whether the absolute value of a yaw rate is a set value or higher or not is judged (S74). When the absolute value is the set value or higher (the judgement of S74 is YES), the braking force of the normal service braking device is controlled (S75). Thus, a difference between the right and left braking forces can be suppressed, and the steering stability of the vehicle is avoided from being spoiled, and the normal service braking device can effectively be utilized. COPYRIGHT: (C)2006,JPO&NCIPI
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