| 摘要 |
PROBLEM TO BE SOLVED: To improve a speed of converging a sensor output value to a true value while suppressing the occurrence of a driver's discomfort for a change in a vehicle acceleration/deceleration resulting from correction of an output value from an acceleration sensor.SOLUTION: An offset estimation value Gos of an acceleration sensor 2 mounted in a vehicle and detecting an acceleration of the vehicle is calculated, and a sensor output value Ga is corrected by adding a correction value to the sensor output value Ga so as to cancel the offset estimation value Gos. At the time of the correction, a magnitude of the correction value CL is restricted on the basis of an environmental sensitivity sensitive value higher as a change rate of an acceleration or deceleration of the vehicle resulting from a change state of a running environment changing the acceleration or deceleration of the vehicle irrespectively of an operation state of a brake/drive force operator indicating a brake force or drive force of the vehicle if a direction of the acceleration or deceleration of the vehicle resulting from the change state of the running environment is the same as a direction of the acceleration or deceleration of the vehicle resulting from the correction. |
