| 摘要 |
PURPOSE:To prevent the lock of a wheel and simultaneously to decrease a torque fluctuation range resulting from loosening, retaining and increasing in its braking force by directly detecting the shaft torque of a wheel at braking so as to adjust a braking force according to the change of the shaft torque. CONSTITUTION:A brake adjustment means (b) is provided for adjusting a braking force applied to a wheel (a) at the time of braking a vehicle in each of its modes, increase, retention and looseness. And a wheel torque detecting means (c) which generates a torque detecting signal after detecting the shaft torque of a wheel (a) is provided and the value of a torque detecting signal at the time of reversing from increase to decrease of its torque detecting signal is memorized in an operating means (d) and simultaneously a target value is sought on the basis of the memorized value by said means (d). Then, in a control means (e) an instruction for loosening is given to a brake adjustment means (b) by this reversing means and simultaneously an instruction for retaining and an instruction for increasing are given to the brake adjustment means (b) at the time of re-increasing of a wheel torque resulting from loosening of a brake so as to force the wheel torque to be controlled toward the target value.
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