| 摘要 |
PROBLEM TO BE SOLVED: To prevent excessive understeer by restricting braking force automatically applied to a turning outside wheel when judged as required to start brake assist control when judged as turning time by judging whether or not a vehicle turns. SOLUTION: An initialized microcomputer MCP reads in respective detecting signals of wheel speed sensors WS1 to WS4, a fluid pressure sensor PS (master cylinder fluid pressure Pmc), lateral acceleration sensor Gy, a front wheel steering angle sensor and a yaw rate sensor. Next, a wheel speed of respective wheels is arithmetically operated, an estimated car body speed is determined, and is normalized to reduce an error by a difference between inner/outer wheels at vehicle turning time to arithmetically operate a longitudinal directional car body deceleration in a vehicular gravity center position. A control mode of an antiskid control is set, and a starget slip rate is set so as to control braking force to respective wheels by a brake fluid pressure controller BC by fluid pressure servo control to thereby prevent excessive understeer when starting brake assist control at vehicle turning time. |
