| 摘要 |
PURPOSE:To perform appropriate control corresponding to a failure by inputting a failure signal, generated at the failure time of either one of the differential limiting control device side and anti-skid braking device side, to the other device, and changing the control of the other device in the stabilizing direction or in the braking force heightening direction. CONSTITUTION:The signals of failure content and the like on the ABS device side are inputted to a differential control unit 43 from an ABS control unit 41, and date signals on the operating state of differential gears 21, 20, 22, the failure content on the differential limiting control device side, and the like are inputted to the ABS control unit 41 from the differential control unit 43. Control corresponding to the failure state of one device is then performed. In the case of a failure on the ABS device side being the failure of a wheel speed sensor, for instance, differential limiting force to all the differential gears 21, 20, 22 is heightened to make each wheel speed the same. In the case of a failure on the differential limiting control device side being the intermediate locked state of all the differential gears, the ABS device suppresses braking force lowering control.
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