| 摘要 |
PROBLEM TO BE SOLVED: To suppress an increase in a braking distance by performing brake control and skidding control using simpler configuration,.SOLUTION: A conversion part 2 receives an input of a brake instruction including an instruction value for decelerating a vehicle and calculates necessary braking force using the brake instruction value. A calculation part 3 calculates actual braking force on the basis of angular acceleration of a wheel, a moment of inertia of the wheel, and a radius of the wheel. A PID controller 5 performs calculation of any of proportion, integration and differentiation or an optional combination of the above three calculations on the basis of a difference between the necessary braking force and the actual braking force. When the difference between the necessary braking force and the actual braking force exceeds a predetermined range, the PID controller 5 determines that skidding occurs and reduces the braking force instruction value in accordance with a predetermined criterion. A valve control logic 6 outputs an electromagnetic valve instruction value which is based on the braking force instruction value. |
