| 摘要 |
PURPOSE:To enable rapid and stable control according to the status change of a vehicle by detecting lateral force acting upon wheels by a lateral force detecting means prior to the displacement of a vehicle body, and performing slip control on the basis of the detected lateral force. CONSTITUTION:A lateral force detecting means 50 is provided to detect the lateral force acting upon wheels F, R, and a braking control means 60 is provided to detect wheel rotation to compute its slip factor and to control the operation of a braking device so that the slip factor becomes the target slip factor when the slip factor during braking reaches the preset braking control starting threshold value. This braking control means 60 controls the operation of the braking device by lowering the target slip factor when the lateral force acting upon the wheels F, R detected by the lateral force detecting means 50 is over the specified value. |
