| 摘要 |
PROBLEM TO BE SOLVED: To enable application of a braking force, without being affected by vibration of a vehicle which is caused by the state of a road surface or the like, by setting a target braking force to the vehicle is accordance with a detected signal which is outputted via a filter which eliminates the high-frequency components of a brake operation detecting signal. SOLUTION: A braking force corresponding to operation of a brake pedal BP is applied from a power hydropressure source PS, a flowing current to a pressure increasing solenoid valve SIfl or the like is duty-controlled. Shift to antiskid control is made during brake operation, and it is judged that wheels are liable to be locked. A wheel cylinder Wfr is interconnected with a reservoir RS via a pressure decreasing solenoid valve SDfr. Brake liquid in the wheel cylinder flows out into the reserver, pressure is reduced, and braking force control is performed independently for each wheel. Duty target current of each solenoid valve is corrected on the basis of operated control target current and actual flowing current, and filter level is set corresponding to the road surface adjusting result which is obtained by a wheel speed signal, when control condition is set according to the state of a road surface.
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