Toyota Camry Hybrid AHV40 Manual page 132

2) Operation in Braking on Split Friction Roads
When braking on a split friction road, the vehicle tends to deflect toward the higher friction side due to
the difference between the braking forces on the left and right sides. In the VDIM, the EPS ECU receives
command signals from the skid control ECU. Based on these signals, the EPS ECU operates the motor
for the EPS to reduce the effect of the difference between the braking forces on the left and right sides,
assisting steering operation. This enables the driver to operate the steering wheel to make steering
corrections easily.
Steering Torque Assist
Brake Force
3) Operation in Accelerating on Split Friction Roads
When accelerating on a split friction road, the vehicle tends to deflect toward lower friction side due to
the drive torque difference between the left and right sides. In the VDIM, the skid control ECU performs
braking control of the drive wheel on the low friction side (TRAC function) and transmits command
signals to the EPS ECU. Based on these signals, the EPS ECU operates the motor for the EPS to reduce
the effect of the motive force difference between the left and right sides, assisting steering operation. As
a result, the proper motive force and vehicle stability have been ensured.
Steering Torque Assist
Brake Force
CHASSIS - BRAKE
Anti Spin Moment
Spin Moment
High Friction
Low Friction
Anti Spin Moment
High Friction
Low Friction
Brake Force
02HCH06TE
Motive Force
Spin Moment
02HCH09TE
CH-31