| 摘要 |
PROBLEM TO BE SOLVED: To properly execute brake control in response to the grade of a bad road. SOLUTION: This invertion is concerned with a brake control method, in which an electronic control device allows a high pass filtration process to be applied to the acceleration/deceleration of a wheel, allows a rectifying process to be subsequently applied thereto, furthermore, allows a low pass filtration processing af to be also applied thereto, and thereby allows a calculated value R thus obtained to be added to a slipping threshold Sthr for a flat road. In this case, brake control shall be executed based on a slipping threshold Sthr represented by a following formula, that is, Sthr =S0 +Ks×T×R, where Ks represents a constant, T represents the fluctuation period of wheel acceleration/ deceleration, and S0 represents a slipping threshold for a flat road. As a rectifying process, a process using the absolute value of a high pass filtration value or a multiplied value by itself, is applied.
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