| 摘要 |
PURPOSE: To avoid the calculation of the erroneous deceleration of a vehicle body in the beginning of the braking by detecting the time after the first reference speed calculated value is set, and setting the deceleration of the vehicle body to the preset value until the preset time is elapsed. CONSTITUTION: The braking hydraulic pressure to actuators 6FL-6R to wheel cylinders 2FL-2RR is controlled by a controller unit CR based on each detected signal of vehicle speed sensors 3FL, 3FR provided on front wheels 1FL, 1FR, and a wheel speed sensor 3R provided on a propeller shaft PS. The anti-skid control is realized so as to achieve the target wheel speed to obtain the vehicle speed according to the wheel acceleration/deceleration based on the wheel speed, the reference speed and the vehicle deceleration. Until the prescribed period of time is elapsed after the first reference speed is set, the vehicle speed is calculated using the vehicle deceleration to realize the control avoiding the effect of the road surfaceμ, or the like.
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