| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate vehicle body speed of a vehicle on the basis of wheel speed, and to properly control the vehicle on the basis of the estimated vehicle body speed, by eliminating a bad influence due to actuation of an LSD. SOLUTION: Fore-and-aft speed Vci of a vehicle body at a gravity center position of the vehicle 12 is calculated on the basis of the wheel speed Vwi of each wheel according to a traveling state of the vehicle (S20, 30). When the vehicle is in a braking state or an non-accelerating state, the maximum value of the fore-and-aft Vci of the vehicle body is made to be an estimated vehicle body speed Vb(S50, 130). When the vehicle is in a turning/accelerating state, the maximum value of the fore-and-aft speed Vci of the vehicle body is made to be the estimated vehicle body speed Vb on the basis of the wheel speed of the wheels except for a turning inside rear wheel that is a turning inside driving wheel (S120, 140 to 160). COPYRIGHT: (C)2005,JPO&NCIPI |
