| 摘要 |
PROBLEM TO BE SOLVED: To generate braking force at the same slip factor in all wheel so as to improve braking performance by generating target braking force from the depression quantity of a brake pedal, obtaining a braking force allotment ratio of the driving wheel side and non-driving wheel side, and braking a corresponding wheel according to the control proportional value. SOLUTION: Target braking force is generated by a target braking force generating means 91 from the depression quantity of a brake pedal detected by a brake pedal depression quantity detection means 90, and an operating point is obtained by a prime mover operating point detecting means 92. A change gear ratio is detected by a change gear ratio detecting means 93, and braking force by minus torque is obtained by a prime mover minus torque portion braking force computing means 94. The ratio of braking force allotted to a driving wheel and a non-driving wheel is determined by a braking force allotment ratio determining means 95, and the braking command value of the driving wheel and non-driving wheel is obtained by a braking command value genrating means 96 form the target braking force, braking force allotment ratio and prime mover minus torque portion braking force. According to this, a corresponding brake actuator 97 is actuated. |
