| 摘要 |
PURPOSE: To control a deceleration factor in an optimal value at all times by changing it in real time, by providing an operation means to renew the deceleration factor and dispersion with every control sampling period. CONSTITUTION: In order to perform operation on a deceleration factor KV, a controller takes out (S31) a control output value Ui being input voltage to a brake pressure control valve. In this control output value Ui , an average value UAVR on plural times M of a sampling period T the controller is found (S32). The deceleration factor KV is renewed (S35) by multiplying a correction factor C by a weighted minimum square method so that the square sum of an error to actual acceleration a(k) found by an acceleration estimate aEST(k) becomes minimum. Since the deceleration factor KV is expressed by (actual deceleration/brake pressure), 1/KV being the inverse number of this deceleration factor KV is used as an operation quantity Eret to the pressure control valve, and target deceleration Y is may be multiplied by this.
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