| 摘要 |
PURPOSE:To shorten a braking distance, by a method wherein a ratio between an average value of increase rates and an average value of decrease rates of the peripheral velocity of a wheel during a given time at each antiskid control period is determined, and based on a road surface friction factor estimated from the ratio, a brake oil pressure is controlled. CONSTITUTION:During control of brake, wheels 4 are braked by a difference between a driving force fr and a brake force fb from a road surface 5 based on a friction factor mu between the wheels and the road surface 5. In which case, from a wheel rotation speed,a wheel spherical velocity VW is detected by a wheel spherical velocity detector 8 in an antiskid control device 30, and after, based on the VW and the friction factor mu from a converter 13, a dummy car body speed Vr is determined, a setter 9, from the Vr and an optimum slip rate Sr, a desired wheel spherical speed VS is calculated, and an electromagnetic valve 15 is controlled according to a deviation between the desired wheel spherical velocity and the VW. A ratio alpha between an average value of increase rates and an average value of decrease rates of the VW at each antiskid control period is determined by a calculator 12, and from the ratio alpha, the VS is corrected based on the friction factor mu determined by the converter 13.
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