PURPOSE: To secure prevention of wheel lock while realizing vehicle behavior control either in slow brake or quick brake in an ABS-mounted vehicle.
CONSTITUTION: An ABS control has a function of correcting a reference wheel rotation number used in an ABS for right and left wheels in accordance with a deviation between a desired yaw rate and an actual yaw rate (step 107). A control unit determines if the ABS is operating or not operating (step 105), it calculates desired pressures P1 (S), P2 (S) for the right and left wheels in accordance with the yaw rate deviation , and it gives a differential brake power ΔP between the right and left wheels (steps 112, 113). In an ABS operation range, the reference wheel rotation number is corrected for the right and left wheels in accordance with the yaw rate deviation to generate a differential brake force between the right and left while executing the ABS control (steps 107-109).
YAMAGUCHI HIROTSUGU
MATSUMOTO SHINJI
MARUKO NAOKI
