| 摘要 |
PURPOSE:To stabilize control on low mu road by continuing the reduction of liquid pressure for a predetermined time when wheel speed value right before locking is at least a predetermined value in which the wheel can be safely stopped even by erecting a wheel lock when the wheel lock is detected. CONSTITUTION:When produced pseudo-vehicle speed Vi does not have gradient adapted to a low mu road during braking, control mode right after pressure reduction is liable to be changed over to pressure increasing by a comparative calculation. However, if wheel speed value right before locking exceeds a predetermined value in which the wheel can be stopped safely even by erecting the wheel lock, comparators 25, 26 generate the output of H level and a counter 28 begins the counter operation. And the H level outputs are given respectively to OR gates 18, 21 through AND gate 27 and the reduction of braking liquid pressure is continued during a set time To. Thus, liquid pressure in a wheel cylinder is reduced to the min. value and the rotation of wheels under the locked condition is resumed even on the low mu road to restore the wheel speed Vi. |
