| 摘要 |
PROBLEM TO BE SOLVED: To stably achieve the antilock braking even on different traveling road surface by detecting the vibration characteristic of a wheel speed, and controlling the braking force to be applied to wheels so as to realize the slip ratio below the value in which the road surface friction coefficient is approximately the peak value based on the detected result. SOLUTION: A control part to control a vehicle motion system 22 to control the braking force to be applied to wheels is provided with a braking force excitation part to give fine vibration to the braking force Pd by an operation part 24 by an operator, and a braking force reduction part to suppress the increase in the braking force based on the resonance characteristics of the wheel speed. The braking force excitation part operates the amplitude value Pv of fine amplitude of the braking command Pb based on the detected valueωd from an amplitude detecting part 23, and also operates the braking force reduction command Pr based on the dataωd , Pv . A driver 27 generates the braking command which is the input to the vehicle motion system 22 to be controlled based on the data Pd , Pv , Pr .
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