| 摘要 |
the present invention, a counter value is increased by a predetermined increment when it is judged that front wheel speed is being decelerated and speed difference between front and rear wheels is higher than a setting value, and the counter value is decreased by a predetermined decrement when it is judged that speed difference between front and rear wheels is not higher than the setting value. Next, if it is judged that the counter value is higher than the setting value, a high mu flag is set. If it is judged that the counter value is not higher than the setting value, the high mu flag is cleared. Thus, it is judged whether road surface has a high mu value or not by speed difference between front and rear wheels and by duration, during which the speed difference is maintained. When a high mu flag is set, a control value for high mu value is set as a control value relating to anti-skid brake control, and if the high mu flag is cleared, a control value for low mu value is set.
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