| 摘要 |
PROBLEM TO BE SOLVED: To provide a wheel acceleration sensing device that is accurate and excellent in responsibility, and is capable of sensing wheel acceleration over a wide range including a very low speed range. SOLUTION: The wheel speed sensing device 1 comprises: a target current computation unit 20A that computes a target current value It supplied to motors 11FR to 11RL; current sensors 15FR to 15RL that detect an actual current value Is; a cornering drag current computation unit 20B that computes a current value Ic corresponding to the drive force component consumed by cornering drag; a running resistance current computation unit 20C that computes a current value Ir corresponding to the drive force component consumed by running resistance; a hill climbing resistance current computation unit 20D that computes a current value Ib corresponding to the drive force component consumed by the hill climbing resistance of a road surface; and a wheel acceleration computation unit 20E that subtracts the current value Ir and the current value Ib from the differenceΔI between the target current value It and the actual current value Is, and determines a wheel acceleration based on the result Ia of the subtraction. COPYRIGHT: (C)2005,JPO&NCIPI
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