| 摘要 |
PROBLEM TO BE SOLVED: To keep the traveling stability of a vehicle in a good condition even when the deviation of the actual yawing momentum to the target yawing momentum is particularly large. SOLUTION: A slide slip angle change speedβ' of a center-of-gravity point as the actual yawing momentum of a vehicle having plural wheels is gained (S5), and the brake fluid pressureΔP is acted on one of brakes of left and right rear wheels when an absolute value of the change speedβ' is more than a predetermined valueβ0', to produce the yawing moment in a state that the more the absolute value of the change speedβ' is, the more a value is, in the direction to reduce the absolute value of the change speedβ' (S10-S12). Even during the control of the yawing moment, discrimination whether the slip control is necessary or not on the wheel applied the brake fluid pressureΔP, continues (S1) and when the slip control is necessary the slip control for keeping a slip ratio within a proper range is executed by controlling the brake fluid pressureΔP. |
