Patent ID: 6023649
Filing Date: 2000-02-08
Classification: B60T

Abstract:
An anti-skid controller comprising:wheel speed detecting means for detecting a wheel speed of each wheel of a vehicle;vehicle body speed calculating means for calculating a vehicle body speed of the vehicle based on the wheel speed;calculating means for calculating an average change gradient of a wheel speed over a specified period of time of one of front and rear wheels of the vehicle in which a chance in the wheel speed detected by the wheel speed detecting means within the specified period of time is smallest;determining means for determining whether or not a change rate of a difference in wheel speeds between the front and rear wheels within the specified period of time reaches a specified value;estimating means for estimating a friction coefficient between a road surface and the wheel, at a point in time where the change rate is found to reach the specified value or higher by the determining means based on the average change of gradient calculated immediately prior to the point in time; andbrake pressure control means for controlling brake pressure of a controlled wheel in accordance with anti-skid control reference determined by using at least the friction coefficient to prevent excess slipping of the controlled wheel based on a comparison between the vehicle body speed and a speed of the controlled wheel.