| 摘要 |
PROBLEM TO BE SOLVED: To accurately control a vehicle at all times despite of the changes in the high/low speed of a vehicle body and a state of a road surface. SOLUTION: An antilock brake system is provided with an M operation means 21 which calculates a differential parameter M matching to the difference between a road surface friction force F and a brake torque B based on the road friction force information and brake torque information, an Mωoperation means 22 which calculates a wheel speed parameter Mω, which becomes 0 in a lock of the wheel, by compensating and integrating the differential parameter M calculated by the M operation means 21, a dMω/dt operation means 23 which calculates a wheel acceleration parameter dMω/dt by integrating the wheel speed parameter Mωcalculated by the Mωoperation means 22, and a solenoid valve control means 26 which controls the hydraulic pressure of a brake device by using the wheel acceleration parameter dMω/dt calculated by the dMω/dt operation means 23.
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