| 摘要 |
PURPOSE: To prohibit transfer to brake control due to falling-in of wheels when passing through a step difference by allowing antilock brake control or braking force distribution control only when the whole wheels show a deceleration tendency. CONSTITUTION: A control device has various conditions for transferring to antilock brake control. For example, wheel deceleration variations C1, C2, C3, C4 are determined on respective wheels (S23). There use the fact that the whole wheels do not decelerate when the wheels pass through a step difference. Next, whether or not a slip rate and deceleration exceed a prescribed slip rate threshold value and a deceleration threshold value is investigated (S24, S25). When these conditions are satisfied, permission to transfer to an antilock brake control mode is given. Thus, a control area of an ordinary brake is expanded, and reduction in braking force is retrained. Braking force distribution control in rear wheels can similarly enhance a frequency of the braking starting timing when performing control start prohibition determining processing.
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