PURPOSE: To prevent the deterioration of brake performance by increasing the brake power when the slip rate becomes less than an aimed slip rate because of the brake power holding on the start of control, while by sharply increasing the pressure after the lapse of a prescribed time after the slip rate becomes less than the aimed slip rate.
CONSTITUTION: An antilock controller 11 controls pressure control valves 18-21 by a controller 17 into which the signals supplied from a G-sensor 12 for detecting the deceleration speed of a vehicle and wheel speed sensors 13-16 for detecting the revolution speed of each wheel, and the brake hydraulic pressure supplied into each brake device 3 is adjusted. In this case, in the antilock control, a brake power is maintained on the start of control, and when the slip rate becomes lower than an aimed slip rate, the brake power is increased, while if the slip rate does not increases to the aimed slip rate within a prescribed time after the slip rate becomes less than the aimed slip rate, or the variation rate of the slip rate after the slip rate becomes less than the aimed slip rate is less than a prescribed value, control is performed so that the increase speed of the brake power is increased.
OKAZAKI HARUKI
ONAKA TORU
TSUYAMA TOSHIAKI
