| 摘要 |
PROBLEM TO BE SOLVED: To enhance stability and control force of a vehicle by judging a bad road and a lowμroad surface to wheels, performing independent control of rear wheels when judging that it is a bad road or the whole wheels do not wholly exist on the lowμroad surface, and performing select low control when it is not a bad road and at least a single wheel exists on the lowμroad surface. SOLUTION: Select low control judges a wheel object of antilock brake control, performs independent control processing in the case of front wheels, judges whether or not a traveling road surface is a bad road in case of rear wheels, investigates whether or not the antilock brake control is performed by transferring from braking force distribution control, performs select low control processing when control is not transferred from the braking force distribution control, investigates whether or not estimative wheel speeds of the front wheels and the rear wheels cross each other, performs the select low control processing when the wheel speeds do not cross each other, and performs the independent control processing when the whole wheels do not exist on a lowμroad surface. The select low control is performed when even a single wheel exists on the lowμroad surface to thereby precisely obtain stability and control force of a vehicle.
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