| 摘要 |
An anti-skid braking system for a four-wheel drive vehicle in which all of the four wheels are driven by a single drive source and are connected to each other by front and rear pairs of axles connected by a propeller shaft, and a differential disposed on at least one of the front and rear pairs of axles. The braking system includes an actuator for controlling mutually independently the braking pressures of at least one pair of left and right wheels connected to the axles between which the differential is disposed, and further includes a controller for controlling the actuator so as to maintain the slip ratios of the left and right wheels within an optimum range, thereby preventing skidding of the wheels on a road surface upon brake application. The controller determines for each of the left and right wheels, whether the braking pressure must be increased or decreased, and commands the actuator, upon determination of simultaneous increases and/or simultaneous decreases of the braking pressures of both of the left and right wheels, such that the braking pressure of one of the left and right wheels is controlled in a normal manner as determined by the controller, while the braking pressure in the other of the left and right wheels is controlled in an override manner different from the normal manner.
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