Brake apparatus for a vehicle

摘要

Wheel-slippage quantity Xs is calculated on a basis of estimated body speed Vs and several wheel speeds Vw. It is determined whether braking force of a wheel is a predetermined value or more by determining whether wheel-slippage quantity Xs is a reference value KXs or more. When braking force of the wheel is determined to be large, a regulating valve (13) is driven and pumping control is started. In pumping control, the regulating valve (13) is repeatedly actuated to a communicated state and to an interrupted state. <IMAGE>