| 摘要 |
PURPOSE:To make accurate antiskid control performable, by determining body speed from wheel body speed by wheel revolving speed and hydraulic body speed by braking hydraulic pressure, and on the basis of this body speed, controlling a hydraulic actuator. CONSTITUTION:At the time of antiskid control, revolving speed of a wheel T is detected by a wheel detecting device A, while braking hydraulic pressure in a hydraulic actuator B, performing braking of the wheel T, is detected by a braking hydraulic pressure detecting device C. And, wheel body speed is found out of the wheel revolving speed by a wheel body speed operational device E, and on the other hand, from the braking hydraulic pressure, reduced acceleration of a car body is estimated by a hydraulic body speed operational device D, finding the hydraulic body speed, and the body speed is determined from both speeds by a controlling device F, then on the basis of this body speed, the hydraulic actuator B is controlled. Thus, the body speed is found in a highly accurate manner so that accurate antiskid control is performable, thus safety in vehicle running is improvable.
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