| 摘要 |
PROBLEM TO BE SOLVED: To improve the accuracy of controlling wheel cylinder liquid pressure. SOLUTION: When an output liquid pressure Pout1 detected by a liquid pressure sensor is equal to or higher than a set liquid pressure (S62), equality between the output liquid pressure Pout1 and a wheel cylinder liquid pressure Pw is estimated (S63). Conversely, when the output liquid pressure Pout1 is lower than the set liquid pressure, a difference between the output liquid pressure Pout1 and the wheel cylinder liquid pressure Pw is increased by a liquid pressure loss caused by flow path resistance in a liquid route. Thus, based on liquid pressure differences ΔPin and ΔPout between the front and rear sides of a pressure increasing linear valve and between the front and rear sides of a pressure decreasing linear valve, an effective wheel cylinder liquid amount qw is obtained and, based on this effective wheel cylinder liquid amount qw, a wheel cylinder liquid pressure Pw is estimated (S64 to S68). Then, based on this estimated wheel cylinder liquid pressure Pw, a deviation error is obtained and a linear valve device is controlled. Thus, the accuracy of controlling a wheel cylinder liquid pressure is improved. |
