To prevent the extension of a braking distance due to deterioration of braking force even in a case where a sharing load ratio of each wheel cannot be estimated correctly, like a case where load conditions are largely changed.
After determining the maximum slip wheel which is a wheel having maximum wheel slip of four wheels, the difference between a wheel slip of the maximum wheel slip and a wheel slip of a control object wheel is operated to set each wheel target braking force correction amount in response to the difference. When the difference exceeds a prescribed value, in concrete, each wheel target braking force correction amount is increased by adding a given increased amount to a last value of each wheel target braking force correction amount without being processed. When the difference does not exceeds a prescribed value, by employing the last value of each wheel target braking force correction amount, a target braking force is enhanced so as to bring a wheel slip of each wheel closer to the wheel slip of the maximum slip wheel by response according to the difference between wheel slips.
| JP4451165 | Vehicle braking device |
| JP2001114083 | BRAKE CONTROL DEVICE |
HIRANO TAKUYA
SUZUKI MOTOJI
| JPH06286598A | 1994-10-11 | |||
| JPH06171485A | 1994-06-21 | |||
| JPH11152028A | 1999-06-08 | |||
| JPH0616117A | 1994-01-25 | |||
| JP2005145256A | 2005-06-09 | |||
| JPH11157426A | 1999-06-15 | |||
| JPH11157425A | 1999-06-15 | |||
| JPH06286598A | 1994-10-11 | |||
| JPH06171485A | 1994-06-21 | |||
| JPH11152028A | 1999-06-08 | |||
| JPH0616117A | 1994-01-25 | |||
| JP2005145256A | 2005-06-09 |
Takahiro Miura
Fumihiro Mizuno
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