| 摘要 |
PROBLEM TO BE SOLVED: To stabilize the vehicle behavior by quickly recovering the cornering force of the inner race and the grip of the cornering wheel on a low-μroad of a splitμroad. SOLUTION: For example, by setting a large first pressure reducing amount of the wheel cylinder pressure Pi for the wheel entering the pressure reducing mode earlier between the fore left/right wheels, the cornering force and grip of the wheels with small road reaction torque are recovered quickly. More precisely, taking the pressure reduction time (timer) TMRG-i determining the pressure reduction amount as the required time for the current wheel acceleration/deceleration speed V7Wi to be increased by a vehicle body acceleration/deceleration speed V'X to a predetermined value. If it is desired to increase the pressure reduction time (timer) TMRG-i , small gain A1 applied to the vehicle body acceleration/deceleration speed V'X is used.
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