| 摘要 |
PROBLEM TO BE SOLVED: To prevent behavior of a vehicle from being unstable upon stepping of brake pedal during turn. SOLUTION: Whether or not to be during antiskid control, is judged (800). Whether a current arithmetic processed wheel is an object wheel of control or not, is judged (810). Whether absolute value|S1|of the difference S1 between square value of a wheel speed of both side wheels is larger than reference value kS1 or not, is judged (820). Whether wheel cylinder pressure of one of the object wheels of control is controlled to be decompressed or not by ABS control, is judged (830). Wheel wheel cylinder pressure on the side of which the wheel is not controlled to be decompressed in the object wheels of control, is controlled to be intensified (for example, pulse pressure intensifying) (840). A starting reference of decompression by ABS control of the wheel on the side of being pressure intensified is processed to be up to a starting reference kS2 (850).
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