| 摘要 |
PROBLEM TO BE SOLVED: To avoid the dangerous braking force keeping operation during the traveling by prohibiting the braking force keeping control by a braking force keeping means when a wheel lock is judged. SOLUTION: A braking force keeping part 6a makes use of the differential speed between the wheel speed and the pseudo vehicle body speed signal for each wheel, and judges the wheel lock if this differential speed is not less than the specified value, and continued for not less than the specified time. The braking force keeping product is prohibited including a case where the specified differential speed is generated between the actual vehicle body speed and the pseudo vehicle body speed, and the pseudo vehicle body speed is zero while the actual vehicle body speed is not zero yet. The wheel lock is judged when the pressure dropping time is not less than the specified value, and the wheel speed in that condition is zero by monitoring the pressure dropping time of a brake for each wheel by the braking force keeping part 6a while controlling the wheel lock prevention by an anti-lock control means 6b. Thus, the braking force keeping control is prohibited to prevent the wheel from being in a dangerous condition.
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