| 摘要 |
An anti-skid braking method is provided for controlling, on the basis of a slip ratio of a wheel and an acceleration of the wheel, braking force to be applied to the wheel. The anti-skid braking method comprises the following steps: where the slip ratio is found to fall outside an appropriate range during slip ratio computation, adding differences between a limit defining the appropriate range and the respective slip ratio values so computed; and when the integral of the differences is at least equal to a predetermined value and the acceleration of the wheel is detected to be low, enhancing the control of the braking force, the control being performed based on the wheel acceleration and the slip ratio, so that the slip ratio is brought back into the appropriate range. An anti-skid braking system suitable for use in practicing the anti-skid braking method is also described.
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