Patent Document ID: 4805104
Application ID: 07095183
Patent Flag: 1

Claim One:
1. A wheel slipping control apparatus for controlling a braking hydraulic pressure to be applied to a wheel, comprising: sensor means for detecting a rotational speed of said wheel; detection means for detecting the slipping state on the basis of the detected rotational speed of said wheel; control means for generating a control signal in accordance with the detected slipping state so as to perform a braking pressure control cycle so that the braking hydraulic pressure is set to a pressure decreasing mode and then to a pressure increasing mode; and pressure adjusting means for controlling the braking hydraulic pressure in accordance with the generated control signal, wherein said control means including: means for determining one of the braking pressure control cycles to be performed as a learning control cycle; means for obtaining a learning pressure-decreased value corresponding to the magnitude of pressure decremented in the learning control cycle; means for obtaining a learning pressure-increased value corresponding to the magnitude of pressure incremented in the learning control cycle; means for obtaining a present pressure-decreased value corresponding to the magnitude of pressure decremented in a control cycle after the learning control cycle; and means for calculating a target pressure-increased value on the basis of the obtained learning pressure-decreased value, learning pressure-increased value and present pressure-decreased value, and for generating a signal indicative of the calculated target pressure-increased value to said pressure adjusting means so that the braking hydraulic pressure is first increased to the vicinity of a wheel locking limit pressure after decreased in the pressure-decreasing mode.