| 摘要 |
PROBLEM TO BE SOLVED: To decrease the number of acceleration sensors, while attaining reduction of a cost and to prevent generation of an obstacle in ABS control even when the acceleration sensor is in trouble, in a brake control device for a four- wheel drive vehicle executing the ABS control so as to obtain a pseudo car body speed from an output value of a wheel speed sensor. SOLUTION: In a brake control device for a four-wheel drive vehicle estimating a coefficient of friction on a roadμby an acceleration sensor (e), based on this estimation, executing ABS control, though a cost is reduced in a means using only a single acceleration sensor (e), in the beginning of the ABS control, the coefficient of Friction on a roadμis estimated by a detection value of the acceleration sensor (e), thereafter when a road surface estimation result by the detection value of the acceleration sensor (e) is judged to be a lowμroad, the road surface is estimated, based on acceleration/deceleration of a wheel obtained from a detection value of a wheel speed sensor (d). In this way, even when the acceleration sensor (e) causes a trouble, road surface estimation by acceleration/deceleration of a wheel speed can be performed.
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