| 摘要 |
PROBLEM TO BE SOLVED: To suppress an initial locking phenomenon caused by the releasing delay of brake liquid pressure by changing the operation condition of a slip suppressing means in a direction for facilitating the operation of the same when a brake state amount exceeds a specified level during traveling on a road surface having a low friction coefficient. SOLUTION: When processing is started, an ABS control start threshold value Sa and a target slip rate Sb are calculated (S38). By determining whether a friction coefficientμis lower than a specified threshold valueμ1 or not, the traveling of a vehicle on a low-μroad is determined. If the friction coefficient is lower than the specified threshold valueμ1, then the process moves to step S42 (S40). Then, determination is made as to whether a flag FBA is set or not (S42). If the flat FBA is set, since the vehicle is in an emergency brake control state during the low-μtraveling, the ABS control start threshold value Sa is corrected to be reduced, and the ABS start thereshold value Sa is changed in a direction for facilitating the interruption of ABS control (S44).
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