WHEEL BEHAVIOR AMOUNT SERVO CONTROL DEVICE AND LIMIT JUDGMENT DEVICE

摘要

PROBLEM TO BE SOLVED: To prevent wheels from being locked even on a road surface where a braking torque gradient is varied abruptly. SOLUTION: A wheel behavior amount servo control device is formed with a limit judgment device 10a which judges the limit of braking torque characteristics based on a wheel deceleration and brake torque, a target deceleration calculation part 16 which calculates a target deceleration according to the results of limit judgment, and a deceleration servo calculation part 20 which controls an ABS actuator 22 so that the wheel deceleration follows the target deceleration. In the limit judgment device, a limit is judged using the fact that the detected brake torque becomes larger at the saturated point of the brake torque characteristics than a brake torque obtained by assuming the equilibrium condition under which a slip speed is at a constant, and the target deceleration calculation part calculates the target deceleration to be followed to the braking torque at the time of limit judgment. Thus the limit can be judged accurately, and a peakμfollow-up control is enabled without causing a wheel lock irrespective of the condition of road surfaces.