At the time of antiskid control manner and antiskid

摘要

PURPOSE: To shorten the calculating time of the change rate of the road surface friction coefficient against the wheel slip ratio. ;CONSTITUTION: The brake liquid pressure of a wheel cylinder is decreased then increased, the braking torque including the brake torque is linearly increased in time. When the wheel speed is judged to have no fluctuation, the wheel speed Rω_n at the first time t_n or the wheel speed Rω_n+2 2 at the second time t_n+2 is subtracted from the wheel speed Rω_n+1 at the intermediate time t_n+1 between the first time t_n and the second time t_n+2 having the same wheel speed. The subtracted value is quadrupled, it is divided by the time T from the first time t_n to the second time t_n+2, the inverted number of the wheel acceleration at the first time t_n is subtracted from the inverted number of the divided value, the subtracted value is multiplied by the vehicle speed and the divided value obtained when the braking torque increasing speed at the intermediate time t_n+1 is divided by the product of the wheel load and wheel effective radius, the multiplied value is tripled, and the change rate of the road surface friction coefficient against the wheel slip ratio is calculated.;COPYRIGHT: (C)1996,JPO