| 摘要 |
This device sets, upon executing only a roll-over preventing control, roll-over preventing braking force exerted on a front wheel at the outer side of the turning direction based upon a table value obtained through an absolute value |Gy| of an actual lateral acceleration and a predetermined table, and sets, upon executing only an US restraining control, US restraining braking force exerted on a rear wheel at the inner side of the turning direction based upon a table value obtained through an absolute value |DeltaGy| of a lateral acceleration deviation, that is a deviation between a target lateral acceleration and the actual lateral acceleration, and a predetermined table. In case where the roll-over preventing control and the US restraining control are simultaneously executed, the roll-over preventing braking force is similarly set and the US restraining braking force is set based upon a value obtained by multiplying the value based upon the table value by a predetermined US restraining braking force damping factor alpha(0<=alpha<=1), thereby giving priority to the roll-over preventing control.
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