| 摘要 |
PURPOSE:To restore a wheel from locking within a safe range in the anti-lock device of an automobile by outputting a holding command at a proper time in accordance with a road face mu even if the depth of locking is the same. CONSTITUTION:As a brake is applied and wheel speed Vw starts to be reduced, a circuit 5 obtains a slip speed lambda from an estimated body speed Vv and a slip speed evaluating value S and, when the slip speed lambda is above a defined value lambda1, while deceleration being smaller than -b without the peak value of the deceleration being appeared, an AND circuit 14 gives an H output, whereas it gives an L output when the peak value is detected. Then, when the slip speed lambdabecomes lower than a slip restoring threshold value lambda2, a signal O8 is made H via AND circuits 15, 16. And, a wheel deceleration evaluating reference value Smu is obtained by a circuit 18 from the wheel speed Vw, the estimated body speed Vv, and an estimated road face value mu which is the differential value of these and, when the deceleration is smaller than the value Smu, pressure reduction is continued via AND circuits 21, 20, whereas when it is larger, the pressure is kept constant. Thereby, a wheel can be restored from locking within a safe range.
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