Apparatus for estimating vehicle speed based on detected wheel speed, without influence of noise included in the detected wheel speed

摘要

A vehicle speed detecting apparatus wherein the speeds of vehicle wheels are detected by wheel speed detecting devices, and the vehicle running speed is estimated by a vehicle speed estimating device, on the basis of the detected wheel speeds, and according to a predetermined estimation rule. The vehicle speed estimating device includes a noise detector for detecting a noise included in any one of the detected wheel speeds, and a rule changing device for changing the estimation rule depending upon whether the noise is included in the detected wheel speed or speeds.