| 摘要 |
PROBLEM TO BE SOLVED: To avoid interference between two wheels. SOLUTION: An ABS control part 10 controls control valves 52c, 52d to cause micro-excitation of braking forces for right and left driving wheels at a waveform phase difference of 90 deg.. Wheel speed sensors 20c, 20d detect the wheel speed signalsω3 ,ω4 of the right and left driving wheels, respectively. A phase correcting part 33 computes the rate of interference between the right and left driving wheels and the wheel speed gain ratio of the right and left driving wheels according to the wheel speed signalsω3 ,ω4 during the micro- excitation, then estimates an interference gain according to the interference rate and the gain ratio, and corrects the wheel speed signalsω3 ,ω4 using the estimated interference gain so that a waveform phase difference of 90 deg. is attained. Microgain computing parts 22c, 22d compute microgains Gd3 , Gd4 according to the corrected wheel speed signalsω3 ,ω4 , and the ABS control part 10 controls an average braking force according to the microgains Gd3 , Gd4 .
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