| 摘要 |
PROBLEM TO BE SOLVED: To make accurate vehicle speed detectable by detecting the third wheel rotating speed from the highest wheel rotating speed in the case of a small turning travel state and the lowest wheel rotating speed in the case of a large turning travel state, as vehicle speed. SOLUTION: A microcomputer reads each wheel speed and computes the average driving wheel speed of driving wheels to judge the turning travel state of a vehicle. In the case of the average driving wheel speed being less than a preset specified vehicle speed and the vehicle being in a large turning travel state, the lowest wheel rotating speed is selected and set as vehicle speed to eliminate the influence of noise. In the case of the average driving wheel speed being higher than the specified vehicle speed and the vehicle being in a small turning travel state, the third wheel rotating speed from the highest wheel rotating speed is selected and set as vehicle speed to eliminate turning inner wheel speed. In an area where the average driving wheel speed is lower than the specified vehicle speed, driving wheel speed such as a slip apt to occur at the time of oscillation can be eliminated, so that vehicle speed can be detected more accurately.
|
