| 摘要 |
The invention provides an apparatus for detecting speed and position of a vehicle, having a detecting means that does not depend on the adhesion state of wheels or road surface state. The invention comprises a rotation sensor, a noncontact velocity sensor such as a Doppler sensor for detecting the velocity of the vehicle without referring to the rotation of the wheel, and an acceleration sensor for detecting the acceleration of the vehicle. The acceleration according to the velocity sensor and difference between the Doppler and velocity sensor readings are compared to detect slipping or sliding of the wheel. Road surface state is detected based on the noise from the output of the doppler sensor. Calculation of the vehicle velocity is switched between different modes depending on the detected conditions. |
