| 摘要 |
PURPOSE:To prevent a malfunction at a low speed range in particular and a control delay from occurring, by estimating a wheel speed properly and performing antiskid braking when a period of the wheel speed measured becomes longer as compared with a period performing the antiskid control. CONSTITUTION:Wheel speed sensors 1-1-1-N generate each revolving speed of axles A1-AN as a period of each pulse signal. And, wheel speed measuring devices 2-1-2-N measure the period of these pulse signal and calculates the wheel speed. In addition, a wheel speed compensating device 6 calculates, for example, the wheel speed of such a mode being compensated in reference to deceleration of the wheel speed measured just before in the case where the measured wheel speed becomes longer than the period performing the antiskid control. And, a control part 5 forms the specified antiskid control signal with the wheel speed of the compensated mode, and it operates wheels W1-WN for antiskid braking via antiskid brake control parts 7-1-7-N.
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