| 摘要 |
PROBLEM TO BE SOLVED: To stabilize a vehicle movement when one of driven wheels of a rear axle slips exceeding its allowable value, by enabling braking operation to the wheel based on the slip condition, while applying a prescribed braking force to the other rear wheel which does not generate a slip exceeding the allowable value. SOLUTION: A control unit 10 outputs an amount of operation within a range of control executed by the control unit 10 via an output circuit 16 and output line 36 connected thereto. In this case, a braking device 38 of a vehicle is operated via the output line 36. A formed value of a braking force is a function of the wheel slip and wheel acceleration. When an excessive wheel slip occurs, (when a deviation between a measured wheel slip and the targeted one is large), strong braking force is formed. In addition to the traction control of the rear wheel generating slip rotation, the other uncontrolled wheel is pre- tightened and stabilized as a result of a vehicle speed function without slipping exceeding the allowable value.
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