| 摘要 |
PROBLEM TO BE SOLVED: To shorten braking distance even in such a vehicle condition as to elongate the braking distance, and secure an expected braking distance. SOLUTION: When a braking signal is inputted from a brake switch 40 or an acceleration sensor 43, a controller 41 detects initial speed when brake operation is started and slipping speed of rear wheels 6 to which main braking force is provided by braking operation based on detected values from a front wheel rotation number sensor 28 and a rear wheel rotation number sensor 35. The initial speed and the slipping speed are taken as parameters to collate with a map to obtain a set liquid pressure value and a target deceleration speed. The controller 41 takes the set liquid pressure value for an initial value to control a brake control valve 20 by a current value, and starts actuation of an auxiliary brake 26. The controller 41 determines a deceleration based on the detected value from the front wheel rotation number sensor 28, and the auxiliary brake 26 is feedback-controlled in such a way that the deceleration gets closer to the target deceleration.
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