CPC B60T 8/1761 (2013.01) [B60T 8/172 (2013.01); B60T 8/173 (2013.01)] | 3 Claims |
1. A road surface step determination device comprising:
an operation amount sensor configured to detect a magnitude of an operation amount of a braking operation member of a vehicle; and
a controller configured to calculate an actual variable amount by using the wheel speed, and calculate an estimated variable amount corresponding to the actual variable amount by using the magnitude of the operation amount, the calculation of the actual variable amount being different from the calculation of the estimated variable amount, and determine a presence or absence of a step by using the actual variable amount and the estimated variable amount, wherein the actual variable amount and the estimated variable amount correspond to an amount based on the wheel speed which is different from a body speed of the vehicle, and adjust a start threshold value of anti-skid control based on the determined presence or absence of the step, and start the anti-skid control when the start threshold value is met.
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