To improve the controllability of a vehicle by obtaining the wheel slip value S, and combining an operating method of an anti-lock adjusting device of changing the braking pressure of the wheel based on the difference between the wheel slip value and the target slip value with an upper rank dynamic adjuster.
The target slip value is obtained by using the vehicle speed or the speed of a freely rotating wheel, the braking force and the transverse force which are generated during the normal adjusting operation. The target braking pressure Ps is obtained by the target slip value, the wheel slip value obtained by the wheel speed and the speed of the freely rotating wheel, the vehicle speed Vx or the speed Vfr of the freely rotating wheel, the longitudinal vehicle acceleration bx, and the slip angle α, and the control signal U to a valve is obtained from the target braking pressure, the master cylinder pressure Pvor, and the transverse force Fs by using an inverse hydraulic model.
KOST FRIEDRICH
HARTMANN UWE
ERHARDT RAINER
VAN ZANTEN ANTON
BUSCH GERD
WEISS KARL-JOSEF
RUF WOLF-DIETER
WIETELMANN JUERGEN
