| 摘要 |
Disclosed is a vehicle capable of improving the accuracy of wheel stopping determination. A stopping determination time which is calculated by multiplying the pulse width of a wheel speed pulse immediately before a non-output time, for which no wheel speed pulse is output from a wheel speed sensor 3, by 21/2+1, or a corrected time which is corrected on the basis of the stopping determination time is set as a threshold value for determining stopping of wheels. The wheel speed pulse which is output immediately before the non-output time is output when the wheels are substantially in the stopping state. Thus, the time corresponding to the pulse width of the wheel speed pulse is multiplied by 21/2+1 which is a constant taking into consideration the deceleration and traveling distance of the vehicle, thereby obtaining an optimum threshold value for determining the stopping of the wheels. For this reason, the stopping of the wheels is determined on the basis of the stopping determination time or the corrected time, such that the stopping of the wheels can be determined rapidly and accurately. Therefore, it becomes possible to improve the accuracy of wheel stopping determination.
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