| 摘要 |
PROBLEM TO BE SOLVED: To reduce failure of accuracy of a vehicle body speed estimation value when braking force is given to a specific wheel by behavior control at traveling in the direct-connected four-wheel drive state, in the vehicle body speed estimation device for performing estimation of a vehicle body speed based on the wheel speed of the respective wheels in the four-wheel drive vehicle. SOLUTION: The device includes a wheel speed obtaining part for obtaining a wheel speed value of respective wheels; and a vehicle body speed estimation part for determining a vehicle body speed estimation value using the wheel speed value of the wheel not given with braking force when wheel slip control for giving braking force to at least one wheel of the rear wheels is performed. When the braking force is given to the wheel of a part, contribution of a variation amount at an increase side of the wheel speed value of the wheel not given with the braking force in the vehicle body speed estimation value is reduced. COPYRIGHT: (C)2010,JPO&INPIT
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