Anti-skid control apparatus for a vehicle braking system

摘要

The present invention related to an improved antiskid control apparatus. When the front wheel on either the right and left sides becomes subject to antiskid control, this apparatus detects whether or not the road surface has a split mu condition in which the road surface friction coefficient at the right and left wheels differs by more than a prescribed value. When the road surface is determined to be in a split mu condition, the braking power for the rear wheels is lowered stepwise during antiskid control to suppress spinning and secure a large side force. This side force cancels the yaw moment which is generated by the difference of friction coefficients in the running direction on the right and left wheels.