| 摘要 |
PROBLEM TO BE SOLVED: To detect the uneven state of a road surface according to the detection results of sensors other than a wheel speed sensor and a vertical acceleration sensor by taking notice of rolling motion of a vehicle. SOLUTION: An estimated roll angular speedϕadd of the vehicle is computed on the basis of the detected lateral acceleration Gy according to the equation of motion (S20), an estimated roll angleϕa of the vehicle is computed as a second integration value of the estimated roll angular speedϕadd (S30), according to the detected roll rateϕd, a detection roll angleϕis computed as its integration value (S40), the number of times when a deviationΔϕbetween the roll angleϕof the vehicle and the estimated roll angleϕa is larger than a designated valueΔϕwithin a designated timeΔT is computed (S50, 60), and it is determined whether the number of times N1 is equal to or larger than a reference value N1c to judge whether the running road surface is a bad road or not (S80 to 100).
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