Anti-skid controlling system and method for automotive vehicle

Claim 1

An anti-skid controlling system for a vehicle, comprising: a) first sensing means for detecting rotation speeds of respective tire wheels and outputting detection signals indicative of the rotation speeds of the respective tire wheels; b) second sensing means for detecting a lateral acceleration of a vehicular body and outputting a lateral acceleration signal indicative of the lateral acceleration; c) third means for determining whether either one of slip rates of right and left rear tire wheels exceeds a set slip rate on the basis of the rotation speed signals for the tire wheels; d) fourth means for operatively limiting a braking force imposed on each rear tire wheel when either one of the slip rates exceeds the set slip rate; and e) fifth means for switching from a common anti-skid control mode in which the anti-skid control is commonly carried out for both rear tire wheels on a basis of the slip rate data derived from one of the rear tire wheels which provides a larger slip rate to an independent anti-skid control mode in which the anti-skid control is individually carried out for the respective rear tire wheels on a basis of each slip rate data derived for each one of the rear tire wheels as the lateral acceleration becomes increased, wherein said fifth means switches between the common anti-skid control mode and the independent anti-skid control mode when the lateral acceleration becomes increased and wherein the data of the left rear tire wheel speed V RL is defined as B.V RL +(1-B)MIN(V RL , V RR ) and the data of the right rear tire wheel speed V RR is defined as B.V RR +(1-B)MIN(V RL , V RR ), wherein B denotes a variable representing lateral acceleration y g and MIN(V RL , V RR ) denotes the rotation speed value selected from the lower of V RL and V RR such that the switching from the common anti-skid control for both rear tire wheels to the independent anti-skid control for each of both rear tire wheels is gradually carried out in response to the increase in the magnitude of lateral acceleration.