Braking force control device

Abstract

Abstract PROBLEM TO BE SOLVED: To sufficiently improve a follow-up property and responsiveness so as to provide a braking force controller whose behavior of control is natural to a driver and running stability can be surely improved. SOLUTION: A forecasted yaw rate for low μ road running is computed in a forecasted yaw rate computing unit 16, a target yaw rate differential value is computed in a target yaw rate differential computing unit 17, a forecasted yaw rate differential value is computed in a forecasted yaw rate differential computing unit 18, a deviation between both differential values is computed in a yaw rate differential deviation computing unit 19, and the first target braking force is computed in the first target braking force computing unit 20. A deviation between an actual yaw rate and the target yaw rate is computed in a yaw rate deviation computing unit 21, and the second target braking force is computed in the second target braking force computing unit 22. On the basis of the first target braking force and the second target braking force, a final target braking force is computed in the final target braking force computing unit 23. When an output decision unit 25 decides that it is in a control area, a signal is outputted to a brake driving unit 1 by means of a brake signal outputting unit 26 so that the final target braking force is applied to a braking wheel selected in a braking wheel decision unit 24.

Inventors

• 👤 Minoru Hiwatari
• 👤 穣 樋渡
• 👤 Koji Matsuno
• 👤 浩二 松野
• 👤 Akira Takahashi
• 👤 明 高橋
• 👤 Munenori Matsuura
• 👤 宗徳 松浦

Bibliographic Details