| 摘要 |
PURPOSE:To make it possible to control the anti-skid operation of a vehicle with a high degree of accuracy, by estimating the frictional coefficient (mu) of a road surface in accordance with the difference between the peak value of false speed of the vehicle body and the last time peak value, and the lapse time thereof so that the deceleration of the wheel speed and the detected level of slips are changed in accordance with the frictional coefficient. CONSTITUTION:A selecting means 6 detects the highest one among outputs from vehicle wheel detecting means 5a through 5c for detecting the speeds of wheels 1a through 1c. Further, a false vehicle body speed subtractor 7 subtracts a predetermined amount from a false vehicle speed one control period before, and a false vehicle speed determining means 8 compares the output of the subtractor 7 and the output of the selecting means 6 to determine the higher one as a false vehicle body speed. Then, a road surface frictional coefficient (mu) estimating means 9 detects the peak value of the false vehicle body speed to obtain the deceleration of the vehicle body in accordance with the difference between the present peak value and that of the last time and the lapse time thereof, the thus obtained value being determined as the frictional coefficient(mu) of the road surface. Further, the anti-skid control is changed to exhibit such a trend that the lower the frictional coefficient (mu) of the road surface, the lower the braking pressure becomes.
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