| 摘要 |
PROBLEM TO BE SOLVED: To increase the yawing speed of a vehicle in a turning direction so as to enable the vehicle to make a steep turn as demanded by a driver by controlling in such a way that braking force acts upon a rear wheel in order to reduce the cornering force of the rear wheel in the case of the steering angle speed being larger than the specified value. SOLUTION: During the travel of a vehicle, braking force Fai (i=1-4) of each wheel brake, a steering angleθ, brake pedal depressing forceλ, the wheel speedωi of each wheel, accelerator pedal depressing quantityαand the ground speed of the vehicle (vehicle speed) Vc are respectively inputted to a controller C. At the time of braking operation by the depression of a brake pedal, a brake signal Xi computed by the controller C is outputted to each wheel brake. The steering angle speed is computed on the basis of the steering angle, and in the case of the steering angle speed being larger than the specified value, it is so controlled as to make the rear wheel brake display braking force in order to reduce the cornering force of the rear wheel.
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