| 摘要 |
PURPOSE: To ensure steerability even at turn running time on a lowμroad surface, by correcting a pressure reducing speed and timing of a brake fluid pressure of each wheel in accordance with a turn running condition of a vehicle detected by a turn condition detecting means and in accordance with a friction coefficient detected by a friction coefficient detecting means. CONSTITUTION: In an antilock control device 6, in a wheel speed and wheel deceleration arithmetic part 11, an input signal from each wheel speed sensors 10a to 10d is obtained and output, after a wheel speed is calculated, to an estimation car body speed arithmetic part 12 and to a wheel condition detecting part 13. Thus, when a difference between these values exceeds a fixed value, a fluid pressure of a fluid pressure control device 5 is reduced from a fluid pressure control device drive part 14. The wheel condition detecting part 13 is connected to a turn control part 3 from a friction coefficient detecting part 2, and a handle angle sensor 15 as a turn condition detecting part is connected to the turn control part 3. Thus in accordance with a turn running condition and a friction coefficient, a pressure reducing speed and timing are corrected.
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