| 摘要 |
PROBLEM TO BE SOLVED: To provide highly precise acceleration information even when a sensor output value is changed by removing the unnecessary frequency component in the detected value of acceleration and vehicle speed related speed by a Kalman filter. SOLUTION: The adding part 54 of a Kalman filter 53 adds the detected value of longitudinal acceleration (longitudinal G) sensor 51 to a correction quantity, and outputs the result as longitudinal G estimated value G0 . The correction quantity is determined by multiplying the integrated value of the output of a deviation calculating part 56 by a longitudinal G gain K1 in a gain multiplying part 59. On the other hand, the calculated value of the calculating part 56 is multiplied by a vehicle related speed gain K2 in a gain multiplying part 60, this is added to the estimated value G0 in an adding part 55 followed by integration, and the result is outputted as a wheel speed estimated value V0 . In this case, the gains 1, 2 are set to (2πf)<2> and (2√2πf), respectively ((f) represents a prescribed frequency in the fluctuating frequency band of the longitudinal G). Thus, of the detected values, the fluctuating component of the frequency (f) or less corresponding to the set value of each gain K1, K2 can be removed.
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