| 摘要 |
In an anti-lock brake system mounted on a vehicle wherein when the vehicle is braked in an emergency during running, an increase in the road surface friction force or road surface friction coefficient owing to an increase in the brake pressure is detected by a road surface friction force detecting device or road surface friction coefficient detecting device. The optimum control start point associated with an increase in the signal value of the road surface friction force F or road surface friction coefficient mu provided by the road surface friction force detecting device or road surface friction coefficient detecting device is decided by using a decrease in the wheel speed, i.e., by using the wheel speed omega or domega/dt. Thereafter, from the point where the specified value of control based on F or mu, or dF/dt or dmu/dt, the brake pressure is moved from the pressure increasing mode to the pressure retaining or decreasing mode.
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