| 摘要 |
PURPOSE:To invariably obtain the normal brake control by switching the control signal output of the control mode obtained by skipping to the control signal output of the control mode not to be skipped, when it is judged that the liquid pressure control mode not to be skipped is skipped. CONSTITUTION:A wheel speed VW is calculated by an arithmetic unit (AU) 10 based on sensor pulses outputted from a wheel speed sensor, a target wheel speed VI is calculated by an AU12 based on this value VW, and a slip rate lambda is calculated by an AU14 based on these values VW, VI. In addition, the wheel acceleration/deceleration alphaW is calculated by an AU16 based on at least 3 consecutive sensor pulse outputs, and liquid pressure control signals EV, AV are outputted from a comparison AU18 based on the above lambda, alphaW. At this time, when it is judged by a mode judging unit 20 judging the liquid pressure control mode selected by the comparison AU18 that the control mode not to be skipped, is skipped an L signal closing an AND gate 22 provided on the AV signal side of the comparison AU18 is outputted.
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