Antiskid brake controlling method and apparatus for vehicles

摘要

An antiskid brake controlling method and apparatus comprising: comparing by a first comparator and during braking of a vehicle, a wheel speed signal Vw representative of the peripheral speed of a wheel of the vehicle with a first reference wheel speed signal VR1 less than a vehicle speed signal VE and with a second reference wheel speed signal VR2 which is less than the first reference wheel speed signal VR1; comparing by a second comparator a wheel acceleration signal Vw representative of the peripheral acceleration of the wheel with a first reference wheel acceleration signal Vwl representing a predetermined positive peripheral acceleration of the wheel, a second reference wheel acceleration signal Vw2 greater than the first reference wheel acceleration signal and a reference wheel deceleration signal -Vw3 representative of a predetermined negative peripheral acceleration of the wheel. The comparators are connected through an electrical circuit to solenoids of control valves which regulate flow of pressure fluid to a wheel brake cylinder for selectively counteracting the pressure of brake fluid from a master cylinder to the brake cylinder or maintaining constant pressure in the brake cylinder. The electrical circuit is operative to decrease the braking torque TB from an instant at which the wheel acceleration signal Vw has dropped below the reference wheel deceleration signal -Vw3 when the wheel speed signal Vw is less than the first reference wheel speed signal VR1 but greater than the second reference wheel speed signal VR2; to stop the decrease of the braking torque TB after the wheel acceleration signal Vw comes to increase again, at an instant at which the wheel acceleration signal Vw exceeds the reference wheel deceleration signal -Vw3; and also to decrease the braking torque TB until the wheel acceleration signal Vw increases to exceed the first reference wheel acceleration signal Vwl when the wheel speed signal Vw has dropped below the second reference wheel speed signal VR2.