To properly distribute a braking force to each wheel according to a static load of each wheel by properly estimating the static load of each wheel with an inexpensive and simple constitution.
A braking stiffness of each wheel (such as FR) is calculated on the basis of output of a wheel speed sensor (WS1 and the like), to estimate the static load of each wheel based on the calculation results while a vehicle is linearly traveling at approximately constant speed. According to the static load, a braking force of each wheel is controlled to adjust distribution of the braking force. A dynamic load between respective wheels may be calculated on the basis of detection results of a lengthwise acceleration sensor (XG) and a lateral acceleration sensor (YG) and the estimation result of the static load, to control the braking force of each wheel according to the dynamic load. Only when a pneumatic pressure of a tire is detected and it is within a predetermined pressure range, estimation of the static load may be permitted.
| JPS60236856 | ANTILOCK CONTROLLER FOR VEHICLES |
| JP3541635 | VEHICLE YAWING CONTROL DEVICE |
ASANO KENJI
ONO HIDEKAZU
WATANABE YOSHITOSHI
MOMIYAMA MINEICHI
TOYOTA CENTRAL RES & DEV
TOYODA MACHINE WORKS LTD