| 摘要 |
PROBLEM TO BE SOLVED: To suppress worsening of riding comfort in a vehicle or the abrasion of a brake shoe due to brake switching by changing the delay time of an actuation command given to a mechanical braking device from the discontinuing timing of an electrical brake in accordance with the magnitude of the error when a decelerated speed is different from a prescribed value. SOLUTION: While the running speed of a vehicle is high, an electrical brake signal which is outputted from an electrical brake discontinuing speed detecting section 1 is 'ON'. The electrical brake signal becomes 'OFF' when the running speed presses an electrical brake discontinuing speed. When the electrical brake signal becomes 'OFF', a timer 4 outputs a signal which turns on a mechanical braking force command at the time set by means of the output of an error operating section 3 has elapsed. The error operating section 3 inputs the braking force command and the decelerated speed computed by means of a decelerated speed detecting second 2 and outputs the set value of the delay time of the actuating timing of a mechanical brake from the electrical brake discontinuing timing. Consequently, the mechanical brake is actuated after the electrical brake is operated until the vehicle is stopped. |
