| 摘要 |
PROBLEM TO BE SOLVED: To optimize the start of control of the distribution of the braking force by changing a threshold value on the basis of the depressing degree of a brake when the control of distribution of the braking force is started by controlling an inlet valve and an outlet valve of a rear wheel when the braking pedal is depressed and the estimated car deceleration or wheel deceleration is over the threshold value. SOLUTION: The starting condition of the control of distribution of the braking force is divided on the basis of the brake pedal depressing amount and speed or the like (the change of estimated car deceleration or wheel deceleration), and the judgement of a spike (S21). A control start flag is set (S26) when the change is more than a specified value and a specified time has passed (the deressing is strong), and when the estimated deceleration is more than a specified valueα1 as the result of the judgement whether the estimated deceleration is more than the specified valueαor not (S22), and a slip ratio of a rear wheel is more than a specific valueβ1 (S23). The distribution control is started (S26) when the depressing is weak, the estimated deceleration is more than a specified valueα2 as the result of the judgement whether the estimated deceleration is more than the specific valueα2 (α2>α1) or not, and the slip ratio of the rear wheel to the front wheel is more than a specific valueβ2 (β2>β1) (S25). Whereby the starting time of the control of distribution of the braking force can be properly optimized.
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