| 摘要 |
PROBLEM TO BE SOLVED: To surely ensure the deceleration of a car body even in an initial period of the braking on a highμroadside, by performing two different kinds of filtering processes to an acceleration sensor signal, and largely correcting a follow-up limit of a pseudo-vehicle speed, when the deceleration difference of more than a specific value, is generated on these processing values. SOLUTION: In a pseudo-vehicle speed operating circuit 10 which inputs an output signal of an acceleration sensor 11, a weak filtering process is executed on the basis of an A/D converted acceleration sensor input value, and the strong filtering process is executed on the basis of the weak filter process value. Then a follow-up limit Gt of the pseudo-vehicle speed is determined from a map comprising the acceleration information and the road surface determination as the parameter. Whether the difference obtained by subtracting the strong filtering process value from the weak filtering process value, is equal to or more than the specific deceleration, or not, is determined on the basis of the result of the weak filtering process and the result of the stong filtering process, so that the follow-up limit Gt of the pseudo-vehicle speed is corrected to be a larger one in a case of YES, and the correction of the follow-up limit is not performed, as the lowμroad in a case of NO.
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