To estimate the pressure information in a necessary pressure actuator without using pressure transducers and to make a structure simple and inexpensive in a brake device with an antilock brake capability and a vehicle antispin capability.

A control system used in a method for estimating hydraulic pressure has hydraulic pressure actuators 28, 30 located remotely from a pressure source 14, and the pressure at a remote position is estimated based on a calibratable relation between the estimated brake pressure and the difference in the volume of a fluid flowing toward and from the pressure actuators 28, 30 to obtain the pressure signal used in an electronic controller without using pressure transducers. An effective duty cycle of solenoid operated fluid flow control valves 60, 62 in an actuator circuit is determined in accordance with an empirical relationship between the difference between the estimated brake pressure and the supply pressure and a commanded duty cycle.