| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for computing an estimated car body speed, with which it is possible to obtain an estimated car body speed which is much near to the actual car body speed. SOLUTION: In STEP 300, an acceleration/deceleration offset correction computation is carried out to calculate a car body acceleration/deceleration computed value GX. In correspondence to acceleration or deceleration, in STEPS 320 and 330, slope limitation coefficientsαup andαdown are determined respectively. In STEP 350, slope limitation is carried out for the wheel speed Vw, and the intermediate value shall be the last slope limitation wheel speed value Vgd. In acceleration, in STEP 370, the minimum value of the intermediate values for the four wheels is determined to be a selective wheel speed VwSel. On the other hand, in deceleration, in STEP 380, the maximum value of the intermediate values for the four wheels is determined to be a selective wheel speed VwSel. In STEP 390, slope limitation is carried out for the selective wheel speed VwSel to determine the last estimated wheel speed VTO.
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