| 摘要 |
PROBLEM TO BE SOLVED: To calculate a slip ratio accurately and enable a proper braking even at the turning time by calculating a car body speed facing to respective wheels when the slip ratio is calculated at the turning time of vehicle and calculating the slip ratio of respective wheels from the car body speed and the wheel speed of respective wheels. SOLUTION: A handle steering sensor 5, yaw rate sensor 6 and front/rear direction acceleration sensor 7 are connected to a controller C. When it is judged that a vehicle is in a comparatively stable turning state, a cornering power Kr is calculated and also the car body speed facing to respective wheels is found out as the wheel speed of respective wheels as they are, under such state that respective wheels are not slipped. While, at the turning and running time, a slip angleβis calculated based on the cornering power kr and turning radius and the car body speed facing to respective wheels is calculated in order from the slip angleβ. Thereafter, the slip ratio of respective wheels is calculated from the car body speed facing to respective wheels and the wheel speed of respective wheels and useful to a brake control.
|
