| 摘要 |
An upper limit of a target braking force for performing behavior control, and an upper limit of its variation rate, are limited so as not to produce hunting due to interference with an anti-skid control. A microcomputer comprising a braking force controller, in a step 81, calculates a target slip ratio (S1*) before limiting from a target braking force (F0*) before limiting and a wheel braking rigidity coefficient (ks), and when it is determined in a step 82 that (S1*) is larger than a maximum controllable slip ratio (Smax), in a step 84, limits a target slip rate (S2*) after limiting to (Smax) and limits the upper limit of target braking force after limiting, calculated by multiplying (S2*) by (ks), to a maximum value at which slip control is possible. In a step 85, a differential (DELTAS*) between (S2*) and a target slip ratio (S0*) on an immediately preceding occasion is taken as a target slip variation rate, and when it is determined in a step 86 that (DELTAS*) is faster than a predetermined value (DELTAS0), the slip ratio (S*) is determined, in steps 89, 90, according to the target slip variation direction determined in a step 87, so that the variation rate of the target slip ratio (S*) is equal to or less than (DELTAS0). In this way, the upper limit of the variation rate of the target braking force calculated by multiplying (S*) and (ks), can be limited.
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