| 摘要 |
PROBLEM TO BE SOLVED: To improve the drive slip control with consideration of traction and horizontal stabilities by storing the brake force level of a wheel attained when a single operation state occurs during drive slip control, and limiting the brake force of the wheel to this brake force level during the drive slip control after it. SOLUTION: When a slip exceeding an allowable value occurs in a drive wheel (low wheel), drive slip control (ARS) engagement is started. The wheel speed of the wheel and the state information of the other wheel (high wheel) are read (100). The actual slip of the low wheel is determined on the basis of the wheel speed to impart a target slip (102), and it is inspected where a slip exceeding the allowable value is present in the low wheel even after it or not (104). The pressure level PRa attained at this time in the low wheel is stored as pressure memory in a memory value (119), and pressure reduction is performed until the unstable state is resolved in the high wheel. According to this, the traction and horizontal stabilities can be improved.
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