| 摘要 |
PROBLEM TO BE SOLVED: To reduce the possibility of worsening the running stability of a vehicle during turning, caused by braking force granted for estimating a friction coefficient. SOLUTION: An increase in braking force on right and left front wheels is started at a predetermined pressure intensifying gradient (S60), longitudinal force Fxj on right and left front wheels is operated (S100), supporting load Fzj on the right and left front wheels is operated (S110), and in accordance with the longitudinal force Fxj and the supporting load Fzj on the right and left front wheels, the maximum friction coefficientμmax of the road surface is operated (S120-140). An approximate valueμa for the maximum friction coefficient of the road surface (S30) is operated, and when the approximate valueμa is a reference valueμo or less and the vehicle is in a turning condition (S40, 50), an increase in all braking pressure is started at a lower gradient than a predetermined pressure intensifying gradient (S70) and in accordance with the longitudinal force Fxj of the right at left front wheels and the like the maximum friction coefficientμmax of the road surface is operated (S200-240).
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