| 摘要 |
PROBLEM TO BE SOLVED: To prevent veheicle stability resulting from variation of braking force caused by motion control from being lowered, so as to effectively stabilize motion of a vehicle. SOLUTION: In this controller, target braking force Fbsi of behavior control is computed (S20), target braking force Fbri of roll restraining control is operated (S50), target braking force Fbti of each wheel is computed as a large value out of the target braking forces Fbsi, Fbri, a target slip rate Spti of the each wheel is computed based on the tagrget braking force Fbti (S70-90), a duty ratio Dri of a pressure intensifying and reducing control valve in the each wheel is computed based on the target slip ratio Spti (S110,120), the pressure intensifying and reducing control valve is controlled based on the duty ration Dri, and braking force is controlled to get to the target braking force Fbti (S130). When the possibility that vehicle stability is lowered caused by variation of the braking force by motion control of a vehicle is exists, the duty ratio Dri is reduced to reduce a pressure intensifying and reducing gradient of the braking force (S120).
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