| 摘要 |
PROBLEM TO BE SOLVED: To reduce the possibility of abruptly worsening the running stability of a vehicle 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 (S80), 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 (S120-150). Approximate valuesμl andμr for the maximum friction coefficient of the road surface corresponding to the right and left front wheels are operated (S220), and when an absolute value for a deviation between the approximate valuesμl andμr is a reference valueμo or more and the road surface friction coefficient with automatic braking force granted to the right and left front wheels is being estimated (S320, 240), a command signal for decreasing a starting threshold value for antiskid control is output to an ABS control device 32 (S250).
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