| 摘要 |
PURPOSE:To prevent a curse deviation in braking by detecting the brake fluid pressure difference between right and left wheels, detecting the steering angles of the wheels to be corrected according to the difference and steering the wheels thereby. CONSTITUTION:The signals of wheel speed sensors 10a-10d, brake pressure sensors 8a-8d, rear wheel steering angle sensors 15a and 15b and a front wheel steering sensor 16 are input in an electronic control circuit 17. And brake pressure is controlled so that the respective wheels may become an optimum slip ratio. In the next step, based on the signals of wheel speed calculated from the front wheel steering sensor 16 and wheel speed sensors 10a-10d, rear wheel steering angles are calculated. The brake pressure difference between right and left wheels is calculated, and the command value of rear wheel steering angles is corrected by using this pressure difference as a parameter for steering wheels so that a car may run in the direction of the side of the wheel whose brake pressure is lower. |
