| 摘要 |
PURPOSE:To correctly evaluate the slip state of a vehicle. CONSTITUTION:The first evaluation value indicating the longitudinal slip quantity of wheels is calculated based on the rotating speed difference of the wheels detected by wheel speed sensors 44a-44d. The reference lateral acceleration of a vehicle is calculated based on the vehicle speed calculated based on rotating speeds of the wheels and the yaw rate detected by a yaw rate sensor 45, and the second evaluation value indicating the lateral slip quantity of the wheels is calculated based on the difference between the reference lateral acceleration and the lateral acceleration detected by a lateral acceleration sensor 47. The reference yaw rate of the vehicle is calculated based on the calculated vehicle speed and the steering angle detected by a front wheel steering angle sensor 43, and the third evaluation value indicating the slip quantity of the wheels around the vertical axis is calculated in response to the difference between the reference yaw rate and the detected yaw rate. The maximum value of the first through third evaluation values is extracted as the value indicating the final slip state of the wheels. |
