| 摘要 |
PROBLEM TO BE SOLVED: To control a braking force suited to respective cases where control is required only for a part of four wheels because of a special situation of a road surface and a control is required because of really excessive braking force. SOLUTION: Aμleaning start judgment speed obtaining means 130 obtains aμlearning start judgment wheel speed Vwmintop which is a higher one out of a wheel speed of a lower speed side of left/right front wheels and the wheel speed of a lower speed side of left/right rear wheel. When the wheel speed Vwmintop becomes low, then a braking force is really excessive so that a switching means 156 changes an estimate wheel speed obtaining means 140 from a state of operating aμcompulsion part to a state of operating aμleaning part. As a result, respective estimate wheel speeds Vve suited both to a case where the braking force is really excessive and a case not, are obtained so that an appropriate antilock control is performed.
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