| 摘要 |
PROBLEM TO BE SOLVED: To prevent mutual intervention between both controls, so as to prevent inconvenience of traction control from being generated, by enabling traction control for operating a driving wheel brake and yaw control for operating any one of right and left wheel brakes to be performed, and then giving priority to the yaw control. SOLUTION: In a brake controller for performing yaw control or traction control in no-brake operation, respective wheel speed detecting means 2L, 2R, 3L, 3R related to right and left driving wheel's and right and left driven wheels, and a steering angle detecting means 4 are provided. The vehicle body speed VV is estimated 5 from the wheel speed, and the target yaw rate YB is determined 7 from the vehicle body speed Vv and the steering angleθ. Next, yaw control is performed by controlling right and left driving wheel brakes by a yaw control means 9 on the basis of the deviation between the actual yaw rate YA and the target yaw rate YB obtained by a detecting means 8, and the yaw control means 9 is operated by a selecting means 10 by having priority over a traction control means 6.
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