| 摘要 |
PURPOSE:To make it possible to carry out stable brake control even from the initial stage of brake operation, by estimating whether a period until the slip rate becomes a predetermined slip rate requiring brake control is within a predetermined range or not, and then by initiating the brake control so that it is possible to control braking in consideration with a delay in the start of braking. CONSTITUTION:Brake hydraulic pressure is regulated by actuators 31, 32, 33 which control wheels, independently from each other under the control of an ECU 40. This ECU 40 receives signals from hydraulic pressure sensors 51, 52, 53, angular speed sensors 15, 16, 22, an acceleration sensor 54 and a brake sensor 55, and estimates the period until the slip rate reaches a predetermined slip rate from the present slip rate. Further, after the time when the thus estimated period falls within a predetermined range, feed-back control is made to a brake pressure regulating means to set the slip rate around the predetermined slip rate, thereby antiskid control is initiated.
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