| 摘要 |
PROBLEM TO BE SOLVED: To avoid accidental transfer to boosting control due to slight variation of wheel speed in antilock brake control on a road surface with low friction coefficient, in an antilock brake controlling method of a motorcycle for starting the boosting control of a wheel brake when a wheel acceleration calculated based on change of wheel speed in time becomes negative. SOLUTION: A level of the friction coefficient on a road surface is determined. When a running road surface with low friction coefficient is determined, a wheel acceleration is calculated based on the change of the wheel speed in time interval longer than that when road surface with high friction coefficient is determined.
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