| 摘要 |
PURPOSE:To improve the stability of a vehicle under braking and shorten the braking distance by calculating the target wheel peripheral speed based on a road friction coefficient and a wheel turning angle and controlling a wheel peripheral speed to approach this target wheel peripheral speed. CONSTITUTION:When a brake pedal is depressed for braking, a dummy vehicle speed Vr1 is calculated by a setter 17 based on the output or the like of a wheel peripheral speed (Vw) detector 7 and a turning radius r1 is calculated by a setter 19 based on this Vr1 and the output or the like of a steering angle detector 21 respectively. Next, a target slip ratio Sr is calculated from Vr1, r1 and a friction coefficient mu1, and a target wheel peripheral speed Vs is calculated from this Sr. On the other hand, the ratio between the descending rate and ascending rate of the wheel peripheral acceleration/deceleration obtained by a differentiator 8 from this Vw is calculated by a computer 10, a friction coefficient mu2 corresponding to this ratio is calculated by a converter 15, then the target wheel peripheral speed Vs is calculated by the setter 12 based on this friction coefficient mu2.
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