| 摘要 |
PROBLEM TO BE SOLVED: To obtain a sufficient braking characteristic, even if a road surfaceμchanges at the time of a peakμfollowup control. SOLUTION: In an ABS device having a braking torque gradient estimating part 28 estimating braking torque gradient, a PI control device 14 calculating command deceleration so that a deviationΔαof the estimated braking torque gradient and a command may be matched with zero and a PI control device 18 calculating a brake pressure command signal for matching a deviationΔy of detected wheel deceleration and the command deceleration with zero, aμchange discriminating part 30 for discriminating time when a state thatΔαis a fixed value or more is continued for prescribed time as a time transferring from a lowμroad to a highμroad and a road surfaceμadapting part 32 raising in a lump or step the command deceleration calculated by the PI control device 4 when the transfer time from the lowμroad to the highμroad is discriminated are provided. By raising the command deceleration at the transfer time from the lowμroad to the highμroad, braking force is raised, and thereby a control can be quickly returned to a peakμfollowup control and a braking characteristic is improved.
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