Anti-skid brake control method

A method for performing anti-skid brake control in a vehicle comprising:

• (a) increasing braking force on front and rear wheels of said vehicle for stopping said vehicle,
• (b) detecting wheel speeds of said front and rear wheels of said vehicle during braking,
• (c) detecting when said wheels are in a skid condition,
• (d) comparing wheel speeds of said rear wheels and selecting a lowest rear wheel speed,
• (e) comparing only wheel speeds of said front wheels and said lowest rear wheel speed selected in step (d) and selecting a highest wheel speed based thereon, and
• (f) estimating vehicle body speed based on said selected highest wheel speed of step (e),
• (g) decreasing braking force on said front and rear wheels based on said estimated vehicle body speed to eliminate said skid condition, and
• (i) again increasing braking force on front and rear wheels of said vehicle for stabilizing steering of said vehicle and for stopping said vehicle.

In a method for performing anti-skid brake control including detecting wheel speeds of a vehicle during braking, which includes estimating a vehicle body speed from the detected wheel speeds, obtaining a value of wheel skidding from the estimated vehicle body speed, and decreasing braking force to eliminate the wheel skidding and increasing braking force to stabilize steering of the vehicle and shorten braking distance, wherein the improvement comprises the estimating of the vehicle body speed by the following steps:

• detecting when wheels of the vehicle are in a skid condition,
• detecting wheel speeds of front and rear wheels of the vehicle,
• comparing wheel speeds of the rear wheels and selecting a lowest rear wheel speed based thereon,
• comparing wheel speeds of the front wheels and the lowest rear wheel speed and selecting a highest wheel speed based thereon, and
• estimating vehicle body speed based on the selected highest wheel speed.