| 摘要 |
PROBLEM TO BE SOLVED: To improve control quality of a brake control device performing ABS control. SOLUTION: A control unit (k), which has a control quantity determining part k1 for determining the control quantity of an ABS unit (e) based on input from a vehicle behavior detecting means (g) and performs ABS control for preventing a wheel from being locked during braking, is provided with a control wheel speed processing part k2 for deriving each wheel speed from detected values of a wheel velocity sensor (f), a turn judging part k4 for judging turning state based on a car body left-side speed and a car body right-side speed provided by a car body right/left-side speed processing part k3, and a rear wheel speed determining part k5 for determining a deriving method for a rear-wheel controlling wheel speed according to this judged turning state and a car body acceleration derived from variation of the wheel speed. The rear wheel speed determining part k5 is constituted so as to determine a rear-wheel controlling wheel speed, with two rear wheel select-low control in normal time, with triangle select-low control in lowμturn rapid brake time, and with two rear wheel independent control in highμturn rapid brake time.
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