| 摘要 |
PROBLEM TO BE SOLVED: To prevent an erroneous judgment that a wheel rotation sensor is abnormal caused by an unnatural behavior of a vehicle in spite that the wheel rotation sensor is normal. SOLUTION: A judgment whether or not the vehicle is in the spinning state is carried out (S20) and a judgment whether or not the vehicle is in the climbing state is carried out (S30). When the vehicle is not in the spinning state or in the climbing state, a judgment whether or not the vehicle is in the stationary traveling state is carried out (S50). When the vehicle is in the stationary traveling state, a judgment whether or not a wheel speed sensor is abnormal is carried out by a judgment whether or not an output of the wheel speed sensor is inconsistent (S60). At the time of the normal judgment, a vehicle control is permitted based on a wheel speed (S80) and at the time of the abnormal judgment, the vehicle control is forbidden based on the wheel speed (S90). However, when the vehicle is in the spinning state or in the climbing state, the abnormal judgment of the wheel speed sensor is not carried out and a judgment result just before is maintained (S20, 30).
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