| 摘要 |
PROBLEM TO BE SOLVED: To reduce the risk that the presumptive car body speed appears at an erroneous value in case a failure has occurred in a means to sense the fore- and-aft speed of the car body. SOLUTION: The wheel speed Vwfi after a filter processing is calculated (S20), and that value among the obtained wheel speeds Vwfi which is nearest the actual car body speed is decided as the reference wheel speed (car body speed before the change rate limiting correction) Vwc (S30). The presumptive car body deceleration Gb based upon the brake operation amount is calculated on the basis of the master cylinder pressure Pm (S40), and the incremental limitation amount ΔVwu of the car body speed is calculated on the basis of the fore-and-aft acceleration Gx and presumptive deceleration Gb of the car body (S50) while the decremental limitating amount ΔVwd of the car speed is calculated on the basis of the fore-and-aft acceleration Gx and presumptive deceleration Gb of the car body (S60), and using Vbaf as the previous value of Vba, the middle value of the Vwc, Vbaf-ΔVwd, and Vbaf+ΔVwu is decided as the car body speed Vba after the change rate limiting correction (S70). |
