| 摘要 |
The anti-lock brake apparatus 1 for a motorcycle has an estimated vehicle speed calculating unit 32C and an anti-lock control unit 32B performing anti-lock control on each wheel T based on the wheel speed and the estimated vehicle speed. The front wheel acceleration calculating unit 32A has a wheelie end determining unit 32D which determines that the wheelie has ended when the front wheel TF is in non anti-lock control, the wheel speed of the rear wheel is higher than the estimated vehicle speed by a speed threshold value ± or more, and the wheel acceleration of the front wheel is equal to or higher than an acceleration threshold value. When the end of the wheelie is determined by the wheelie end determining unit 32D, the estimated vehicle speed is calculated based on only the wheel speed of the rear wheel for at least a predetermined time.
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