| 摘要 |
PURPOSE:To eliminate skidding of a wheel with a slackened brake control force for a skidding wheel, by providing a plurality of wheels with individual wheel rotation detectors to determine a difference between rotation detection signals of the wheels. CONSTITUTION:A plurality of wheels 101-104 of a vehicle 7 are provided individually with wheel rotation detectors 31-34. As the wheel rotation detectors 31-34, magnets are mounted on the wheels while magnetic sensors or the like are used as sensitive thereto. Rotation detection signals of the wheels 101-104 are inputted into a processing circuit 4. Subsequently, a difference is detected between the rotation detection signals, wheel skidding and the those not are judged from the difference and a differential signal is inputted into brake control systems 51-54 to slacken control forces of brakes 61-64 for the wheels 101-104 skidding, which makes the wheels stuck again to prevent skidding. Thus, brakes are controlled depending on a difference between the wheel rotation detection signals, thereby preventing the skidding of the wheels.
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