| 摘要 |
PROBLEM TO BE SOLVED: To prevent a vehicle behavior from being unstabilized by slippage of wheels, when automatic braking is conducted to avoid contact with a front side obstacle. SOLUTION: When the automatic braking is conducted to prevent an own vehicle from contacting with a body, braking forces in left and right front wheels are reduced evenly in a step S9 when the front wheels are slipped in a step S7, braking forces in the left and right rear wheels are reduced evenly in a step S11 when the rear wheels are slipped in a step S10, and the braking forces in the left and right wheels are thereby equalized to prevent turbulence of the vihicle behavior accompanied to the slippage. When a prescribed time elapses after the left and right braking forces are reduced evenly, or when a braking operation or a steering operation by a driver is detected, the braking forces in the left and right wheels are secured to the maximum to shorten a braking distance, by controlling the braking forces in the left and right wheels independently by an ABS.
|
