| 摘要 |
PURPOSE:To improve the quality of turning through the restraint of the occurrence of a slip at the time of turning, by providing a braking means which conducts the brake of drive wheels in accordance with differences between the carwheel velocities of the drive wheels and a reference carwheel velocity that is made to be the larger carwheel velocity between the carwheel velocities of a pair of follower wheels and which also strengthens the brake force of the inner wheel side at the time of turning. CONSTITUTION:The larger carwheel velocity VR between the carwheel velocity of one follower wheel which is WRR detected by means of the 1st carwheel velocity sensor 13 and the carwheel velocity of the other follower wheel WRL detected by means of the 2nd carwheel velocity sensor 14, is made to be a reference carwheel velocity, and a controlling means 15 conducts the brake of drive wheels WFR, WFL in accordance with differences between this reference carwheel velocity and the carwheel velocities of drive wheels WFR, WFL outputted from the 3rd and 4th carwheel velocity sensors 11, 12, and also, strengthens the brake force of the inner wheel side at the time of turning. Accordingly, turning can be safely made through the restraint of the occurrence of a slip at the time of turning. |
