Method of and system for controlling brakes

摘要

Disclosed is a method of and a system for controlling antilocking brakes employed in a vehicle such as a motorcycle. The position of an expander piston which constitutes an antilocking modulator is detected and the torque of a rotative drive source for actuating the expander piston is detected. A braking force used for each of the brakes is then computed from the detected position of the expander piston and the detected torque of the rotative drive source at the detected position. Further, friction coefficients of a road surface are estimated from the braking force thus computed and a target slip ratio is estimated from the estimated friction coefficients so as to carry out the optimum braking. Accordingly, the optimum target slip ratio can be estimated depending on high and low mu roads, thereby making it possible to provide satisfactory braking.