| 摘要 |
PURPOSE:To prevent an early lock at a low mu road surface from occurring, by setting two reference velocities with a constant speed difference to a pseudo- body velocity, and setting both decompression starting and decompression ending points of time in comparison between these reference velocities and the wheel velocity. CONSTITUTION:The speediest wheel velocity among wheel velocities Vw1-Vw4 to be found by speed counting circuits 5-8 on the basis of each output out of speed sensors 1-4 detecting the wheel velocity of each wheel at left and right and front and rear is selected (select high) by a select circuit 14, and the selected wheel velocity is passed through a filter 14 whereby the specified pseudo-body velocity Vv is set up. And, both first and second reference velocities VT1 and VT2 to be followed to this Vv with each constant low speed difference is set by a setting circuit 15. And, when deceleration is continued with deceleration which is not yet reached to the specified threshold value, decompression is started after the elapse of the specified time since the wheel velocity is reached to the VT2, then the decompression is controlled so as to be completed when the wheel velocity is restored to the VT1.
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