| 摘要 |
<p>A collision preventing system for vehicles comprising a road surface friction coefficient judgement circuit (53) for judging a friction coefficient of a travel road surface on the basis of a detection value detected by a wheel speed detector (43), and for outputting a judgement signal, when determination is made that the friction coefficient is equal to or less than a predetermined value, a first comparator adapted to deliver a first brake control signal indicative of a command to continuously operate each brake (BFR,BFL,BRR,BRL) when there is a high possibility of collision, a second comparator adapted to deliver a second brake control signal indicative of a command to perform a pumping braking when there is a lower possibility of collision than that of the first brake control signal, and a changing-signal outputting circuit for outputting a changing-signal indicative of a command to change the operation control mode for each brake in response to the delivery of the judgement signal from the road surface friction coefficient judgement circuit (53) when the second brake control signal is delivered form the second comparator. With this arrangement, it is possible to conduct the pumping braking at a stage prior to the full braking, and to obtain an appropriate braking force in accordance with the friction coefficient which is determined during the pumping braking. This avoids conveyance of a vague braking feeling to a driver. <IMAGE></p> |
