| 摘要 |
PROBLEM TO BE SOLVED: To provide a device performing the brake control while defining the spin caused by side slipping of rear wheels and the drift caused by side slipping of front wheels with respect to a slide slipping phenomenon of a combination vehicle. SOLUTION: A target yaw rate A determined from the steering input by operation and a detected output Bw of a yaw rate sensor mounted on a vehicle are compared, and it is determined that the side slipping phenomenon is the spin, when an absolute value of A-B is over a predetermined threshold value, and the polarities of A-B and B are different from each other. The different threshold values are respectively determined to automatically perform the brake control with comparatively small slide slipping in a case of the spin, and to perform the brake control with the comparatively large side slipping in the case of the drift, whereby the troublesome operation can be prevented.
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