| 摘要 |
An axle unit 210 including a rolling bearing unit attached to a knuckle of a wheel support member has a slip sensor ( 211 ) including acceleration sensors and a rotation sensor in one piece. The slip sensor ( 211 ) has the rotation sensor placed on the base face, and the rotation sensor is placed facing an encoder ( 213 ) attached to a rotation member ( 212 ). At the vehicle running time, the traveling acceleration in the traveling direction of the wheel and the rotation angular speed are detected and at the vehicle running time, the ground speed of each wheel, the tire radius of each wheel, and the slip ratio of each wheel are found.
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