| 摘要 |
Provided is an anti-lock brake control device that can rapidly and accurately determine that a wheel is slipping and that can shorten the braking distance of a vehicle. The present invention is provided with: a wheel movement estimation means (13) that estimates at least one of the angle, the angular velocity, and the angular acceleration of a wheel (2); a slip estimation means (14) that uses the results of the movement estimation to estimate the slip state of the wheel; and an anti-lock control means (15) that, in accordance with the estimated slip state of the wheel, gives a brake device (1) a command to reduce braking force. The slip estimation means (14) has one or more delay compensators (17a, 17b), such as filters, that perform delay compensation on the estimation results from the wheel movement estimation means (13). The anti-lock control means (15) uses the results of a prescribed determination, which includes a comparison of a plurality of estimation results outputted from the slip estimation means (14), to give the order to reduce braking force. |
