| 摘要 |
PURPOSE:To always obtain an optimum brake force in accordance with the kind of tires and the condition of a road surface, by formulating a tire characteristic map in accordance with slip rates during braking and braking forces obtained from decreasing rates of the vehicle body speed, and by controlling the brake hydraulic pressure in accordance with the map. CONSTITUTION:In an antiskid control device, a control circuit 8 controls an actuator 4 so that when the decreasing rate of wheel speed during braking exceeds a predetermined value, the brake hydraulic pressure is cut off to hold a hydraulic pressure at that time. Further, the brake hydraulic pressure is decreased when the wheel speed is below a predetermined false signal, and the pressure decrease is ceased while the brake hydraulic pressure is applied again under a predetermined condition. In this arrangement, the slip rate between the tire and the road surface is computed, and further, the braking force is computed in accordance with the decreasing rate of the vehicle body speed. Further, a tire characteristic map indicating the relationship between the tire-to-road surface friction coefficient and the slip rate is formulated from the slip rates and the braking forces, and therefore, the brake hydraulic pressure is controlled in accordance with the map.
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