Antiskid type brake system for vehicles

Claim 1

An anti-skid type brake system for vehicles comprising: a plurality of brakes each mounted to one of a plurality of wheels and actuated hydraulically; a plurality of actuators each mounted to one of said brakes or a plurality of brakes for increasing and decreasing the fluid pressures of the brakes; a plurality of rotation sensors at least one of which is mounted for each one of said plurality of actuators for monitoring the speed of rotation of each said wheel; a plurality of fluid pressure sensors each monitoring a fluid pressure supplied from each said actuator to the respective brake and generating an electric signal changing at least in two stages in accordance with the level of the fluid pressure; upper limit value setting means for setting an upper limit value of a wheel deceleration at a high level when the fluid pressure is high and at a low level when the fluid pressure is low, based on the fluid pressure sensed by the fluid pressure sensor associated with a wheel whose speed of rotation has been determined by the associated rotation sensor to be the highest of all the speeds of rotation of the wheels; and a controller comprising means for normally assuming that the highest speed of rotation of all the speeds of rotation monitored by the rotation sensors represents the traveling speed of a vehicle and for estimating, after the deceleration of a wheel having the highest speed of rotation has exceeded the predetermined upper limit value, the traveling speed of the vehicle by fixing a deceleration of the traveling speed of the vehicle at the upper limit value while controlling each said actuator by estimating the slipping condition of each wheel based on the difference between the estimated traveling speed of the vehicle and the speed of rotation of each wheel, whereby the skidding of at least one of the wheels associated with the actuators is avoided.