Method for detecting lifting of rear wheel and method for controlling braking, of two wheeled vehicle

A method for controlling a brake of a two-wheeled vehicle which is equipped with an antilock brake controlling unit, comprising:

• generating an estimated vehicle speed by selecting the larger one of wheel speed of a front wheel and a rear wheel;
• paying attention to an estimated vehicle deceleration which is computed based on said estimated vehicle speed and judging that lifting of the rear wheel has occurred when a degree of lowering of said estimated vehicle deceleration is larger than a predetermined value;
• and
• making said estimated vehicle speed in compliance with said wheel speed of the front wheel in accordance with a detection:
• wherein the degree of lowering of said estimated vehicle deceleration is judged to be a predetermined value or larger when one of the following items (A) and (B) is judged to be present;
• (A) a first condition is satisfied in which the difference between a time estimated vehicle deceleration and a preceding time estimated vehicle deceleration is larger than a predetermined value, and in addition a second condition is satisfied in which the first condition is fulfilled for a predetermined time or longer;
• (B) a third condition is satisfied in which a sum of changed amounts of the estimated vehicle deceleration for several-cycle portions is larger than a predetermined value.