| 摘要 |
PROBLEM TO BE SOLVED: To improve the braking performance of a vehicular brake by obtaining a larger body deceleration even if the reaction of the brake pedal is increased at the braking of the vehicle. SOLUTION: Step 110 calculates wheel speeds Vw on the basis of signals from wheel speed sensors. Step 120 obtains an estimated body speed Vs by guarding the maximum wheel speed of the wheel speeds Vw. Step 130 obtains an estimated body deceleration or body deceleration-G dVs from the difference between the preceding estimated body speed Vs and the estimated body speed Vs at this time. Step 140 determines whether the brake switch is turned on or off. Step 150 determines whether the reaction of the brake pedal is a larger value or not and whether the body deceleration-G dVs is not less than a reference value KdVs or not. Step 160 based on the satisfaction of requirements to start the pressure reducing control turns the regulating valve on to open the pipeline. |
