The application discloses a method for controlling a pneumatic brake system of a vehicle. The method includes the step of modulating a pilot-control brake pressure by means of an electropneumatic pilot-control valve in venting phases and bleeding phases. The method also includes the step of feeding in the pilot-control pressure via a pilot-control line for outputting a brake pressure to wheel brakes of the vehicle.

A brake fluid pressure control device for a vehicle that includes a wheel speed obtaining device to obtain wheel speed, and a vehicle body deceleration calculating means to calculate a vehicle body deceleration on the basis of the wheel speed. If a condition is satisfied in which the vehicle body deceleration continues to stay at a low rate of less than or equal to a predetermined threshold value for a predetermined period of time, the pressure increasing rate in pressure increasing control is altered to a higher value than before the condition is satisfied. The brake fluid pressure of a brake caliper can quickly be brought close to the fluid pressure of a master cylinder. Therefore, it is possible to improve the brake responsiveness when the brake is re-operated by the driver during the ABS control, thereby reducing the driver's feeling of wrongness and strangeness.

A brake fluid pressure control device for a vehicle that includes a wheel speed obtaining device to obtain wheel speed, and a vehicle body deceleration calculating means to calculate a vehicle body deceleration on the basis of the wheel speed. If a condition is satisfied in which the vehicle body deceleration continues to stay at a low rate of less than or equal to a predetermined threshold value for a predetermined period of time, the pressure increasing rate in pressure increasing control is altered to a higher value than before the condition is satisfied. The brake fluid pressure of a brake caliper can quickly be brought close to the fluid pressure of a master cylinder. Therefore, it is possible to improve the brake responsiveness when the brake is re-operated by the driver during the ABS control, thereby reducing the driver's feeling of wrongness and strangeness.