| 摘要 |
PROBLEM TO BE SOLVED: To easily determine a friction factor by controlling an actuator so as to produce a braking force only by the wheel brake of the axle of one portion at least in an initial stage when a brake is put on each wheel and performing friction factor determination by a friction factor determining means in an initial stage. SOLUTION: Actuators AFL and AFR are actuated only for the wheel brakes BFL and BFR of front axles IF in the initial stage of braking and in this stage, friction factor determination is performed by a friction factor determining means based on each wheel speed detector. Thus, braking forces are applied only to left and right front wheels WFL and WFR and a friction factor is easily determined in the condition that changes in the movements of the left and right wheels WFL and WFR are relatively large. A horizontal force is secured by placing left and right rear wheels WRL and WRR as follower wheels in a non-braking state, the stability of a vehicle is secured and further, the wheel speeds of the left and right rear wheels WRL and WRR are used as reference values for friction factor determination.
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