Patent ID: 9045116
Filing Date: 2015-06-02
Classification: B60T

Abstract:
1. A brake system comprising: friction brakes provided for at least two wheels that are at least two of a plurality of wheels of a vehicle; a relative-phase obtaining device configured to obtain at least one relative phase each of which is a relative phase between corresponding two of the at least two wheels, wherein the relative phase is acquired on the basis of a value obtained by subtracting a rotational angle of one of the at least two wheels from a rotational angle of the other of the at least two wheels; a change-characteristic obtaining device configured to obtain a total-braking-force change characteristic that is a relationship between the relative phase obtained by said relative-phase obtaining device and a value representative of state of change of a total braking force during at least one rotation of the at least two wheels, the total braking force including braking forces of said friction brakes provided for the at least two wheels; and a rotational-angle control device configured to cause the relative phase to become close to a target relative phase by controlling a rotational angle of at least one of the at least two wheels, the target relative phase being determined based on the total-braking-force change characteristic obtained by said change-characteristic obtaining device.