| 摘要 |
PROBLEM TO BE SOLVED: To provide an anti-lock brake control device capable of quickly and correctly determining that wheels are in slip tendency and thereby capable of shortening a braking distance of a vehicle.SOLUTION: There are provided: wheel motion estimation means 13 for estimating at least one of an angle, an angular speed, and an angular acceleration of a wheel 2; and slip estimation means 14 for estimating a slip state of the wheel by using the estimation result. Also, there is provided an anti-lock control device 15 for giving a brake device 1 a command to reduce a braking force according to the estimated slip state of the wheel. The slip estimation means 14 includes delay compensators 17a, 17b such as one or a plurality of filters for performing delay compensations for the estimation result of the wheel motion estimation means 13. The anti-lock control device 15 gives the command to reduce the braking force according to prescribed determination results including a comparison of a plurality of estimation results outputted from the slip estimation means 14.SELECTED DRAWING: Figure 1 |
