| 摘要 |
When carrying out automatic braking in order to avoid contact of a vehicle with an object, the behavior of the vehicle is prevented from becoming unstable due to abnormal road surface conditions in which the coefficients of friction of the road surface are different for the right and left wheels. An object which is present in the direction in which the vehicle is advancing is sensed by a radar device, and based on the sensing results if it is determined that there is a possibility of the vehicle making contact with the object, the automatic braking system operates the braking device at time t0 so as to carry out automatic braking. At the time of starting the automatic braking, if an abnormal road surface condition in which the coefficients of friction of the road surface are different for the right and left wheels, is sensed based on the difference in the slip rate between the right and left wheels, at time t1 the rising gradient of the braking force of the automatic braking is suppressed to a low level and this prevents the behavior of the vehicle from becoming unstable due to the occurrence of an undesirable yaw movement. The sensing of an abnormal road surface condition can also be carried out based on the operational status of the anti-lock brake system, the yaw rate or the lateral acceleration.
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