PURPOSE:To apply the strong brake torque until a danger of a car lock is impending by invariably decreasing the brake torque of a wheel when the wheel speed is smaller than the reference wheel speed and the wheel deceleration is smaller than the reference wheel acceleration. CONSTITUTION:Under the condition that the wheel speed Uwi is smaller than the reference wheel speed UR and the wheel acceleration Vwi is smaller than the reference wheel deceleration -Vwo, i.e., between time t2 and time t3, the brake torque is decreased. Accordingly, the brake torque is decreased only when a danger of the wheel lock is impending, and the strong brake torque is applied very effectively and continuously. During the skid cycle, the brake torque is invariably decreased likewise under the said condition.
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