A method for cyclically controlling the braking of a vehicle includes the
following steps: (a) detecting a road surface frictional force of said
vehicle, (b) detecting a brake fluid pressure, and (c) controlling the
brake fluid pressure in response to detected values including the brake
fluid pressure and the road surface frictional force, the controlling
including decreasing the brake fluid pressure in response to the road
surface frictional force declining during an increase of the brake fluid
pressure and increasing the brake fluid pressure in response to the road
surface frictional force declining during fall-off of the brake fluid
pressure.