| 摘要 |
PROBLEM TO BE SOLVED: To stabilize the running condition of a vehicle by anticipating the slip limit of a wheel through operations, and controlling according to the slip limit a braking force or driving force applied to the wheel. SOLUTION: A road surface friction coefficient μ generated on a wheel and a lateral force Fy generated on its axle are estimated through operations, and when the vertical load of the wheel is W, a maximum longitudinal force, Fxmax, is computed from the estimated road surface friction coefficient μand the lateral force Fy by using Fxmax=√[(μ/W)<2> -(Fy)<2> ] The driving force or braking force applied to the wheel is controlled according to the maximum longitudinal force Fxmax. Thus, hazardous conditions that may lead to the rolling of the vehicle can be prevented. |
