| 摘要 |
A vehicle speed estimation method is provided to reflect the real vehicle speed by estimating the speed of a non-driven wheel where tip-up is not generated. A vehicle speed estimation method comprises the steps of: initializing each related parameter for controlling braking and then judging whether a braking state due to steep turn is generated or not(S100,S101); measuring the speed of each vehicle in a steep turn and judging the generation of tip-up by deciding whether both a first condition indicating the speed for determining that tip-up is generated in a non-driven wheel and a second condition indicating that the non-driven wheel is an inner wheel in turning are satisfied or not(S102,S103,S104,S105); excluding a speed value of the correspondent wheel where tip-up is generated, from a reference value for estimating vehicle speed and then estimating the vehicle speed on the basis of speed values of the rest non-driven wheels(S106); and canceling a vehicle speed estimation operation according to tip-up if both first and second conditions indicating the speed of the wheel where tip-up is finished are satisfied(S107,S108,S109).
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