| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle braking/driving force control device for accurately computing a vehicle body speed and controlling slipping conditions arising in wheels.SOLUTION: An electronic control unit 26 acquires wheel speeds Vwi (i=fl, fr, rl, rr) of wheels 11-14 from wheel speed sensors 29i (i=fl, fr, rl, rr). The unit 26 uses the wheel speed under a braking condition out of the acquired wheel speeds Vwi for estimating and computing an estimated vehicle body speed to be used for ABS control to compute the slipping rates of the wheels 11-14. In addition, the unit 26 uses the wheel speed under a driving condition out of the wheel speeds Vwi for estimating and computing an estimated vehicle body speed to be used for TRC control to compute the slipping rates of the wheels 11-14. In this way, the use of the wheel speed under a condition different from a deceleration-/acceleration-slippping condition to be controlled is restricted to enable the estimated vehicle body speed to be accurately computed. |
