Abstract: A method of and an apparatus for estimating a vehicle velocity, which are suitable for use in a vehicle. Velocities of drive wheels and follower wheels of the vehicle are determined and the fastest one of the so-determined velocities is selected. The velocity of the vehicle is estimated based on the fastest wheel velocity thus selected. The above respective processes are repeatedly executed at given time intervals. Thus, when the estimated vehicle velocity is faster than each of the velocities of the follower wheels and lower than the fastest wheel velocity, the estimated vehicle velocity determined immediately before the above estimating process is set as a desired estimated vehicle velocity. Accordingly, a high-accuracy estimated vehicle velocity corresponding to an actual vehicle velocity can be obtained, thereby making it possible to control brakes and driving forces with high accuracy using the estimated vehicle velocity.

Abstract: A method of and a system for controlling brakes. A target slip ratio of each of wheels at the start of antilock control is estimated and a vehicle deceleration prior to the start of the anti-lock control is detected. The target slip ratio at the start of the antilock control is corrected based on the detected vehicle deceleration. Thus, vehicle controllability correlated to the vehicle deceleration can be prevented from being impaired. It is therefore possible to reliably improve the control performance of a vehicle and to effect the optimum brake control.

Abstract: Disclosed herein is a method of and a system for controlling brakes. In the brake control system, grounding loads on front and rear wheels are determined and a correction value for the braking of a predetermined wheel is computed based on the grounding loads thus determined. A braking force is determined inclusive of the computed correction value. A correction value for the braking of the front wheel is computed based on the determined grounding loads. Thus, the optimum brake control can be made without being affected by a variation in the distribution of the loads of the front and rear wheels relative to the ground.

Abstract: Disclosed is a method of and a system for controlling antilocking brakes employed in a vehicle such as a motorcycle. The position of an expander piston which constitutes an antilocking modulator is detected and the torque of a rotative drive source for actuating the expander piston is detected. A braking force used for each of the brakes is then computed from the detected position of the expander piston and the detected torque of the rotative drive source at the detected position. Further, friction coefficients of a road surface are estimated from the braking force thus computed and a target slip ratio is estimated from the estimated friction coefficients so as to carry out the optimum braking. Accordingly, the optimum target slip ratio can be estimated depending on high and low .mu. roads, thereby making it possible to provide satisfactory braking.