Therefore, an angular deceleration threshold is pre-selected. When the measured angular deceleration exceeds this threshold, the controller issues a command to start releasing the brake wheel cylinder pressure, so that the wheels can accelerate the rotation. Pre-select an angular acceleration threshold value. When the measured angular acceleration exceeds this threshold value, the controller issues a command to start increasing the pressure of the brake wheel cylinder to slow down the rotation of the wheel to achieve the purpose of controlling the slip rate.