| 摘要 |
<p>A reference wheel speed calculation unit (300) comprising: a planar movement component extraction unit (301) that calculates a first wheel speed using a wheel speed sensor value as input; a roll interference removal unit (302) that calculates a second wheel speed using the first wheel speed as input; a pitch interference removal unit (303) that calculates a third wheel speed using second front wheel and rear wheel speeds as input; a front/rear wheel speed substitution unit (305) that calculates a fourth wheel speed, using as the input therefor a value substituting the front and rear wheel speeds for the second wheel speed; a wheel speed switching unit (306) that inputs the third wheel speed and the fourth wheel speed, outputs the third wheel speed if the vehicle speed is less than a prescribed vehicle speed, and outputs the fourth wheel speed if the vehicle speed is at least the prescribed vehicle speed; and a reference wheel speed redistribution unit (304) that calculates a final reference wheel speed for each wheel, using the third wheel speed or the fourth wheel speed output from the vehicle speed switching unit (306) as input.</p> |
