| 摘要 |
PROBLEM TO BE SOLVED: To accurately calculate an estimated car body speed even if any one of driving wheels is idling in a 4-wheel drive vehicle. SOLUTION: In the sate of non-idling, when comparison is made among a speedαdown×t+Vso(n-1) obtained by adding the specified time (t) of limit accelerationαdown to a previous estimated car body speed Vso(n-1), a speed -αup×t+Vso(n-1) obtained by substracting the specified time (t) of a limit reduction speedαup from the previous estimated car body speed and a maximum speed Vwmax selected from the speeds of 4 wheels, one positioned in the middle is set as a current estimated car body speed. Then, in the state of idling, in other words, when the previous estimated car body speed is smaller than a specified speed A, if any one of the 4 wheels exceeds the previous estimated car body speed, the speed -αup×t+Vso(n-1) is set as a current estimated car body speed. Thus, the rising of an estimated car body speed Vso(n) is prevented.
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