Patent ID: 7047121

Claim:
An antiskid control system for a four-wheel-drive vehicle, comprising: a brake hydraulic generator for a braking hydraulic pressure; a braking cylinder attached to each wheel of the four-wheel-drive vehicle, the braking cylinder generating a braking force by receiving the braking hydraulic pressure; a control valve disposed between the brake hydraulic generator and the braking cylinder, the control valve controlling the braking hydraulic pressure between a pressure decreasing control condition of decreasing the hydraulic pressure of the braking cylinder and a pressure increasing control condition of increasing the hydraulic pressure; a wheel speed detector attached to each wheel, the wheel speed detector detecting a wheel speed of each wheel and outputting a wheel speed indicative signal; and a control unit coupled to the control valve and the wheel speed detector, the control unit being arranged, to calculate a target control speed on the basis of the wheel speed of each wheel, to calculate a front wheel acceleration of the front wheel and a rear wheel acceleration of the rear wheel from the respective front and rear wheel speeds, to calculate a difference between the front wheel acceleration and the rear wheel acceleration, to determine that a driveline vibration is generated when the difference is greater than a vibration determination threshold, and to execute a vibration convergence control for converging the driveline vibration when the driveline vibration is generated.