PURPOSE: To detect the body deceleration so accurately by installing a deceleration limiting means limiting the body deceleration to at least either of an upper limit value and a lower limit value in the case where the body deceleration to be acquired by a body deceleration acquisition means exceeds at least either of these limit values.
CONSTITUTION: A body deceleration acquisition means consists of a wheel speed operating means 60, a body speed operating means 64 and a body deceleration operating means 68. In addition, upper body deceleration αUL or the sum of the last compensation body deceleration αSO(n-1) and maximum increment ΔαIL is the upper limit value of body deceleration, and lower limit body deceleration αLL or difference between the last compensation body deceleration αSO(n-1) and maximum decrement ΔαDL is the lower limit value of the body deceleration. S1-S3 and S5 of a body deceleration compensation means 74 and a part operating the upper limit body deceleration αUL and the lower limit body deceleration αLL of S4 and S6 constitute a body deceleration limit value acquisition means.
KUBOTA KAZUHIKO
HOSHINO MASAKI
MOTOYOSHI KIYOTAKA
