| 摘要 |
In an anti-lock control method and apparatus for preventing locking of vehicle wheels during braking, a plurality of pressure increase rates are predetermined correspondingly to various friction coefficients for a road surface, one of pressure increase rates is selected based on an estimated friction coefficient estimated from vehicle deceleration for increasing brake hydraulic pressure, and if it is detected that a lower one of right and left vehicle wheel speeds has risen to vicinity of the vehicle speed for a predetermined time period, the road surface is judged to have sharply changed from a low valued friction coefficient to a high valued friction coefficient along with movement of an automotive vehicle and the selected one of the pressure increase rates is then changed for another one appropriated for the road surface having a high valued friction coefficient.
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