| 摘要 |
PROBLEM TO BE SOLVED: To accurately determine whether the traveling road of a vehicle is a sandy road or not. SOLUTION: The vehicle 1 comprises an ECU 100 increasing and decreasing brake pressure for giving a braking force based on slip rates of wheels FR-RL. The ECU 100 comprises an acceleration calculation part 104 calculating, based on a driving force generated by the internal combustion engine 2 of the vehicle 1, a driving force estimated acceleration Gxtinh that is an acceleration of the vehicle 1 estimated to be caused under this driving force, and a traveling road determination part 105 determining whether the traveling road of the vehicle 1 is a sandy road or not. The traveling road determination part 105 determines that the traveling road of the vehicle 1 is a sandy road when both the body acceleration Gx and actual wheel acceleration DVW of the vehicle 1 exceed the driving force estimated acceleration Gxtinh calculated by the acceleration calculation part 104. COPYRIGHT: (C)2007,JPO&INPIT
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