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Anti-lock control method for automotive vehicles

Image Number 5 for United States Patent #5185703.

An anti-lock control method and apparatus is charecterized in that if the highest one VwH of the speeds of the four wheels of the vehicle is still lower than a prescribed threshold speed and not increasing at a second time point at which a prescribed time .DELTA.T has elapsed after a first time point at which the highest wheel speed becomes lower than the threshold speed, the estimated vehicle speed is modified to be equal to the highest wheel speed VwH, thereby preventing an automotive vehicle from being not braked at the start of anti-lock control immediately after an estimated vehicle speed has changed away from the actual vehicle speed as the wheel of the vehicle performs an acceleration slip before the start of the anti-lock control.

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