| 摘要 |
Wheel speed sensors FRs and FLs for detecting original wheel speed of a right front wheel FR and a left front wheel FL of drive wheels and wheel speed sensors RRs and RLs for detecting original wheel speed of a right rear wheel RR and a left rear wheel RL of driven wheels are included. If it is determined that ABS control is in operation, vehicle speed Vspd is calculated based on the wheel speed of the maximum speed of the wheel speed of all wheels (FR, FL, RR, and RL) (post-regulated wheel speed V1fr, Vlfl, V1rr, and V1rl). If it is determined that ABS control is not in operation, the vehicle speed Vspd is calculated based on the wheel speed of the maximum speed of the wheel speed of the driven wheels (RR and RL) (post-regulated wheel speed V1rr and V1rl). Longitudinal acceleration Gs of the vehicle is computed based on the vehicle speed Vspd computed in such a manner.
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