BRAKING CONTROL DEVICE
1 Assignment
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Accused Products
Abstract
A braking control apparatus is mounted on a vehicle provided with: a wheel angle varying device capable of changing a wheel angle of at least one of front wheels and rear wheels, independently of steering by a driver for facilitating a change in the wheel angle; a braking force varying device capable of changing a left-right braking force difference of at least one of the front wheels and the rear wheels; and a controlling device for controlling each of the wheel angle varying device and the braking force varying device. The braking control apparatus is provided with: a limiting device for changing a limit of the left-right braking force difference of the at least one of the front wheels and the rear wheels in accordance with whether or not the wheel angle varying device can operate.
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Citations
13 Claims
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1-6. -6. (canceled)
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7. A braking control apparatus mounted on a vehicle comprising:
- (i) a wheel angle varying device capable of changing at least one of a front-wheel angle, which is a wheel angle associated with each of a left front wheel and a right front wheel, and a rear-wheel angle, which is a wheel angle associated with each of a left rear wheel and a right rear wheel, independently of steering by a driver for facilitating a change in the wheel angle;
(ii) a braking force varying device capable of changing at least one of a front-wheel left-right braking force difference, which is a difference between a braking force applied to the left front wheel and a braking force applied to the right front wheel, and a rear-wheel left-right braking force difference, which is a difference between a braking force applied to the left rear wheel and a braking force applied to the right rear wheel; and
(iii) a controlling device for performing cooperative control of controlling the braking force varying device so as to apply each of the braking forces to respective one of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel within a range of a preset limit associated with each of the front-wheel left-right braking force difference and the rear-wheel left-right braking force difference by associating the front-wheel angle, the rear-wheel angle, the front-wheel left-right braking force difference, and the rear-wheel left-right braking force difference with one another, and of controlling the wheel angle varying device so as to reduce yaw moment caused by at least one of the front-wheel left-right braking force difference and the rear-wheel left-right braking force difference by applying each of the wheel angles to respective one of the left front wheel, the right front wheel, the left rear wheel, and the right rear wheel, said braking control apparatus comprising;a limiting device for changing the limit associated with at least one of the front-wheel left-right braking force difference and the rear-wheel left-right braking force difference if the cooperative control cannot be performed. - View Dependent Claims (8, 9, 10, 11, 12, 13)
- (i) a wheel angle varying device capable of changing at least one of a front-wheel angle, which is a wheel angle associated with each of a left front wheel and a right front wheel, and a rear-wheel angle, which is a wheel angle associated with each of a left rear wheel and a right rear wheel, independently of steering by a driver for facilitating a change in the wheel angle;
Specification