| 摘要 |
PROBLEM TO BE SOLVED: To reduce variation of braking force of an entire vehicle and variation of braking force difference between right and left wheels, by reducing variation of braking force of the wheel on the high friction coefficient side when anti skid control is performed in a running state of the vehicle on a crossover road. SOLUTION: When the anti skid control is performed for one of the right and left front wheels during braking on the crossover road and a starting condition of a yaw control during the anti skid control is established (S220-S240), a reference value of starting determination of the anti skid control of the other front wheel and the anti skid control is started early (S60). When the anti skid control is also applied to the wheel, the braking pressure of the wheel is controlled by a preset specific pattern (S70, S110 and S120). Thus, the braking slip of the wheel and the braking force difference between right and left wheels are prevented from becoming excessive, and the variation of the braking force of the wheel is prevented. COPYRIGHT: (C)2004,JPO&NCIPI
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