| 摘要 |
PURPOSE:To perform an optimum antiskid control according to the road condition by detecting the wheel deceleration, and setting a desired value for skid control of the wheels based on the wheel speed in each skid cycle at which the detected deceleration agrees with a value set previously. CONSTITUTION:When the brake is applied at a time t0, a skid controller 60 is actuated, and a wheel speed VW detected by means of a wheel speed sensor 70 shows a skid cycle in Fig. A. The wheel speed VW is differentiated in a set deceleration detector 80, which detects the deceleration shown if Fig. B and outputs signals eb at times t1, t2, t3... at which the deceleration reaches values set previously. Then a desired wheel-speed generator 90 extracts wheel speeds Vw1, Vw2... at times when the signals eb are obtained, and generates a desired wheel-speed Vw0 made by linking the wheel speeds Vw1, Vw2... into a straight line shown in Fig. C. The desired wheel-speed thus generated is inputted to a skid controller 100 for rear wheels, and a skid control of the rear wheels is performed so that the wheel speed agrees with the desired value.
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