| 摘要 |
PROBLEM TO BE SOLVED: To provide an automatic braking device capable of preventing brake control at unnecessary strength when a locked wheel is released.SOLUTION: In an automatic braking device 100, even when a wheel is locked and a vehicle speed of zero is estimated, deviation between target deceleration and actual deceleration is not accumulated during a period in which the wheel is locked. Accordingly, unnecessarily large feedback deceleration and instruction deceleration are prevented from being calculated. As a result, when the lock of the wheel is released, the brake control at unnecessarily large magnitude is prevented. |
