| 摘要 |
A brake pressure is controlled with the left and right front wheels of a vehicle as one group, and the left and right rear wheels as another group. Alternatively, the right front wheel and left rear wheel form one group, and the left front wheel and right rear wheel form another group. Brake pressure is supplied individually to these groups by a first actuator group comprising one or more actuators and a second actuator group comprising one or more actuators. When a fault occurs in an actuator in the first actuator group, the first actuator group is controlled so as not to generate brake pressure, and when a fault occurs in an actuator in the second actuator group, the second actuator group is controlled so as not to generate brake pressure. In this way, unbalance of braking force on the left and right wheels due to a fault in an actuator is prevented, and turning of the vehicle due to this unbalance is suppressed.
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