| 摘要 |
PURPOSE:To prevent reduction in stability and in controllability at the time of changing channel control by maintaining two-channel control for both of the right and left driving wheels until a condition of no-control of a brake is reached, when one channel control is required at the time of two-channel control, and then by changing the control. CONSTITUTION:A brake pressure control actuator (c) to wheel cylinders (a), (b), and acceleration slip detection means (d), (e) for right and left driving wheels are provided, and at the time of acceleration slip, it is judged by a control channel judgement means (f) whether two-channel control by individual control according to driving conditions is chosen or one channel control by the same control for both of the right and left driving wheels. The control channel thus judged is carried out by an acceleration slip brake control means (g), except in the case of changing channel. When one channel control is required by the control channel judgement means (f) at the time of two-channel control, after two-channel control is maintained until no-control condition for a brake is reached for both of the right and left driving wheels, the two-channel control is switched into one channel control by a channel changing control means (h). |
