| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate a car body speed even if a wheel rides over the level difference of a road surface. SOLUTION: The maximum value of a wheel speed Vwfi after filter processing is decided as a reference wheel speed Vwc (S20, 30), and determination is made as to the abnormality of the wheel speed of a left rear wheel or a right rear wheel as a follow wheel based on the reference wheel speed Vwc (S70). A car body speed Vb is set equal to the maximum value Vwc of the wheel speed Vwfi when any of the wheel speeds are normal (S100), equal to the maximum value of the wheel speed after the filter processing of three wheels other than the right rear wheel when the wheel speed of the right rear wheel is abnormal (S120), equal to the maximum value of the wheel speed after the filter processing of three wheels other than the left rear wheel when the wheel speed of the left rear wheel is abnormal (S140), and equal to the larger value of the wheel speed after the filter processing of left and right wheels when the wheel speeds of any of the left and right rear wheels are abnormal (S150).
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