| 摘要 |
In a vehicle, the wheels of which are driven by motors, provided is an antilock brake control device capable of preventing a wheel from being locked or reducing the tendency of a wheel to be locked at low cost, without requiring an actuator to be added to a friction brake for braking each wheel. The antilock brake control device (1) is used in a vehicle equipped with: a motor (3) for driving a wheel; a wheel bearing for transmitting the rotation of the motor (3) to the wheel and supporting the wheel in a rotary manner; and a friction brake for braking each wheel by a frictional force by pressing a pressing member against a brake rotor provided on each wheel. The antilock brake control device (1) has a slip ratio monitoring means (21) for monitoring the slip ratio of a wheel and a drive torque adding means (22) for, when the slip ratio monitored by the slip ratio monitoring means (21) exceeds a target slip ratio, adding a torque in a drive direction to a torque command value of the motor (3). In the antilock brake control device (1), the friction brake is not operated when adding the torque in the drive direction to the torque command value of the motor (3). |
