| 摘要 |
An apparatus and a method for estimating a vehicle speed of a vehicle in which a driving state can be switched between a four-wheel drive (4WD) state and a two-wheel drive (2WD) state. The driving state of the vehicle can be determined based on one or more pieces of information. A controller calculates the vehicle speed based on a wheel speed of at least one non-driven wheel when it is determined that the vehicle is in the 2WD state. When it is determined that the vehicle is not in the 2WD state or when it cannot be determined that the vehicle is in the 2WD state, the controller calculates the vehicle speed based on the lowest one and/or the second lowest one of the wheel speeds of all of the wheels. Further, an apparatus and method for performing predetermined control, such as behavior control or traction control, that perform the control by using the estimated vehicle speed.
|
