Anti-skid brake control device

An anti-skid brake control device comprising,

• means for detecting the respective velocities of a plurality of wheels of a motor vehicle;
• means for detecting yaw angular acceleration of the motor vehicle;
• means for determining target slip rates for the right and left side wheels independently based upon a steering angle signal of the motor vehicle and for correcting the determined target slip rates on the basis of the detected yaw angular acceleration;
• and
• means for controlling braking pressures of the braking fluid for the respective wheels so as to follow slip rates of the respective wheels determined on the basis of the wheel velocities detected by said wheel velocity detecting means and the corrected target slip rates.

An anti-skid brake control device comprising:

• first means for determining a target yaw angular acceleration .omega.T based upon a steering angle speed .theta. of a steering wheel of a motor vehicle;
• second means for compensating the target yaw angular acceleration .omega.T by applying a delay factor in the system of the device to obtain a compensated target yaw angular acceleration .omega.R;
• third means for detecting yaw angular acceleration .omega. of the motor vehicle;
• fourth means for determining a yaw angular acceleration deviation .delta. by subtracting the detected yaw angular acceleration .omega. from the compensated target yaw angular acceleration .omega.R;
• fifth means for determining target slip rates Sfrt, Sflt, Srrt and Srlt for the respective wheels based upon the yaw angular acceleration deviation .delta.;
• and
• sixth means for controlling pressures of braking fluid for the respective wheels in such a manner that slip rates of the respective wheels determined by the respective wheel velocities and motor vehicle body velocity follow the target slip rates for the respective wheels, wherein said fifth means includes a plurality of maps for determining the target slip rate for each of the respective wheels, which maps are selectable dependent upon at least one of a value of motor vehicle body velocity and a predetermined lapse of time after a yaw moment is generated, so that both stability of the motor vehicle and reduction in braking distance are safely obtained.