| 摘要 |
PROBLEM TO BE SOLVED: To preclude generation of a sense of incongruity when a braking force control is resumed at the end of the anti-skid control even if the desired deceleration is changed during the anti-skid control to interrupt the braking force control owing to a deceleration feedback control. SOLUTION: The initial value of an integral control portion Iout when the braking force control interrupted is to be resumed, is set to a value obtained by subtracting the proportional control portion as shown by D from the target braking force memory value memTdcom at the time of the anti-skid cycle being started. Thereby the target braking force Tdcom at t5 is lessened by D, to be approximately identical to the target braking force memory value memTdcom immediately before t3 when the anti-skid control was started. Accordingly the difference between the target braking force Tdcom and the actual braking force Td at t5 when the deceleration feedback control is resumed, is as small as E, and after t5 when the control is resumed, the actual decelerationαv can be varied slowly as shown by H, and there is no risk to generate a sense of incongruity owing to a steep change of the deceleration even when the target decelerationαdem has increased with further stamping of a brake pedal at t4. COPYRIGHT: (C)2006,JPO&NCIPI
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