| 摘要 |
PURPOSE:To expedite the convergence of an acceleration slip by detecting the rotating speed of driving wheels and driven wheels to compute a slip factor and the speed and acceleration of each wheel, and controlling a brake by the slip factor and the acceleration of the driving wheels, and engine output by the speed and acceleration of the driven wheels. CONSTITUTION:A controller 30 receives the rotating speed of driving wheels and driven wheels from rotating speed sensors 31, 32 and also detection signals from a pressure switch 34, a brake switch 35, a throttle sensor 41 and a steering sensor 42. A slip factor, the speed and acceleration of the driving wheels and the speed and acceleration of the driven wheels are respectively computed on the basis of this input information. Solenoid valves 19, 29 are then controlled by the slip factor and acceleration of the driving wheels so as to control pressure to a wheel cylinder 15 for brake control. On the other hand, engine output is controlled by the speed and acceleration of the driven wheels.
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