| 摘要 |
PURPOSE:To keep off any sudden steerage of wheels due to a sudden change in a pressure differential by delaying a compensating steering angle command value calculated according to the pressure differential of braking hydraulic pressure in both symmetrical wheels, and auxiliarily steering these wheels on the basis of the delayed command value. CONSTITUTION:In a vehicle, each brake pressure of both symmetrical wheels in at least one side among front and rear wheels is independently controlled by an antiskid controller. In this case, at the time of antiskid control, pressure of each braking fluid in these symmetrical wheels is detected by a means A. In addition, on the basis of the detected pressure, a pressure differential in these wheels is calculated by a means B. Moreover, according to this calculated pressure differential, in order to check any deflection of a vehicle source, a compensation steering angle of rear wheels or front wheels is calculated by a means C. On the other hand, in order to moderate a variation in this compensation steering angle is delayed by a means D. Then, on the basis of this delayed compensation steering angle, the rear wheels or front wheels of the vehicle are steered by a means E. |
