Vehicle anti-lock brake control apparatus including means for regulating brake pressure based on smoothed wheel acceleration and determined vehicle acceleration

An anti-lock brake control apparatus for controlling a pressure of a brake fluid in a brake cylinder provided for braking a wheel of a vehicle, comprising:

• a hydraulic power source;
• a pressure-regulating valve device disposed between said hydraulic pressure source and said brake cylinder, for regulating the fluid pressure;
• slip detecting means for detecting a slipping condition of said wheel;
• and
• control means for controlling said pressure-regulating valve device based on the slipping condition of said wheel detected by said slip detecting means, so as to prevent excessive slipping of said wheel,
• said slip detecting means including wheel acceleration detecting means for detecting a smoothed wheel acceleration value which is an acceleration value of said wheel smoothed by a predetermined time constant, said slip detecting means further including vehicle acceleration determining means for determining an acceleration value of said vehicle,
• said control means including valve commanding means for generating control commands to be applied to said pressure-regulating valve device, for increasing and decreasing said fluid pressure such that a mean wheel acceleration value intermediate between adjacent minimal and maximal values of said smoothed wheel acceleration value which are successively detected by said wheel acceleration detecting means approaches said acceleration value of said vehicle determined by said vehicle acceleration determining means.