| 摘要 |
PURPOSE:To not relieve braking force too much when the road wheels slip during the acceleration of a car by a method wherein the estimated car speed to obtain the reference wheel velocity is detected from the maximum wheel velocity normally and from the medium wheel velocity when the road wheels slip during the acceleration of the car. CONSTITUTION:The maximum and minimum speeds are selected out of respective wheel velocities VWFR, VWFL and VWR. The minimum wheel velocity selected out of the remaining wheel velocity is adopted as the medium wheel velocity. When the difference DELTAVW between the maximum velocity and the medium wheel velocity exceeds the first set velocity DELTAVW0 and the condition that the time T, during which the relation DELTAV''> DELTAVW0 is satisfied, is longer than the set time T0 is established, the medium wheel velocity is adopted as the select wheel velocity VWX. On the other hand, when neither said condition is established nor DELTAVW exeeds the second set velocity DELTAVW1 after the establishment of said condition, the maximum velocity is adopted as the select wheel velocity. The first calculated velocity VSAN is calculated by subtracting the reference velocity difference from the select wheel velocities. Further, the second calculated velocity VSBN is calculated based upon the reference wheel velocity at the previous time and the reference deceleration alpha0. The larger one between both the calculated velocities is adopted as the reference wheel velocity V. |
