| 摘要 |
PURPOSE:To improve the braking accuracy by releasing a braked condition of one of driven wheels in controlling a brake fluid pressure, calculating an absolute speed of a vehicle from a wheel speed of this driven wheel, and controlling a braking force of the other wheels according to a slip rate calculated from the absolute speed. CONSTITUTION:A hydraulic pipe 3 extending from a master cylinder 2 is provided with an actuator 4 including a branching device 40 for branching the hydraulic pipe 3 into four branch hydraulic pipes 31-34 and fluid pressure control valves 41-44 for controlling brake fluid pressure. The fluid pressure control valves 41-43 are controlled by a control unit 9 according to a running condition of a vehicle. In controlling the brake fluid pressure, the brake fluid pressure applied to one driven wheel 5d is released, and an absolute speed of the vehicle is detected from an output from a wheel speed sensor 6d attached to the driven wheel 5d. Then, a slip rate is computed from the absolute speed and wheel speeds detected by other wheel speed sensors 6a-6c to control the brake fluid pressure of other wheels 5a-5c.
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