| 摘要 |
PROBLEM TO BE SOLVED: To prevent unnecessary correction of a wheel speed when a vehicle is not traveling straight by accurately determining the straight traveling state of a vehicle. SOLUTION: This is a wheel speed correction method and device for a vehicle where a wheel speed Vwi of each wheel is calculated based on an output of a wheel speed sensor provided on each wheel, a ratio of a value Pi corresponding to a traveling distance of each wheel to a value corresponding to the traveling distance of at least one of the other wheels is calculated as a correction coefficient Ki (n (S40), it is determined whether a vehicle is in the straight traveling state (S60 to 90), and when the vehicle is in the straight traveling state, the wheel speed of each wheel is corrected by the correction coefficient (S100). The vehicle is judged as being in the straight traveling state when the state where a change amount of the correction coefficient in a predetermined traveling distance is not more than a reference value continues not less than the reference times (S60 to 80) and the size of an integration valveΣγ(n) of a yaw rate of the vehicle is not more than a reference value (S90).
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