| 摘要 |
PROBLEM TO BE SOLVED: To perform antiskid control with excellent braking efficiency even on a bad road by adjusting output time of a pressure increasing signal on the basis of a change on a rotary state of a wheel with peak detecting time of a wheel speed as a reference. SOLUTION: For example, a point (b) at which wheel acceleration DVw is less than estimative car body acceleration DVso corresponds to the peak of a wheel speed Vw since it is an inflection point at which the wheel acceleration DVw changes to a small value from a value larger than the estimative car body acceleration DVso. Thus, the point (b) is set so that rising time of a pressure increasing signal in a pulse pressure increasing mode coincides with wheel speed peak time when the wheel acceleration DVw is less than the estimative car body acceleration DVso. In the pulse width of the pressure increasing signal, the pulse width of a point (c) reduces from a point (a) to wa, wb and wc to be 0 at a point (d) in the vicinity of the road surfaceμ(a friction coefficient) peak. Thus, wheel cylinder fluid pressure becomes a gentle pressure increasing characteristics of reducing in a pressure increasing gradient, so that braking force can be imparted with excellent braking efficiency in the vicinity of theμpeak.
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