| 摘要 |
PROBLEM TO BE SOLVED: To enable even a four-wheel drive car without any driven wheel to be applied by obtaining individually the wheel speed, wheel load and wheel braking and driving forces of at least two wheels of a plurality of wheels for presuming at least one of the car body speed and coefficient of friction on a road surface on the basis of these speed, load and forces. SOLUTION: To a combined unit to presume car body speed and the coefficient of friction on a road surface and a brake controller 19 are inputted signals from liquid sensors 21-23 to detect brake liquid pressure P1 -P4 , signals from wheel speed sensors 24-27 to detect the wheel speed VW1 -VW4 of respective wheels 1-4, the rotational frequency Ne , throttle opening TVO and selection gear position. In addition to these, a lateral acceleration detecting value YG, forward and backward acceleration detecting value XG, yaw rate detecting valueΦ, steering wheel steering angleθand suspension strokes L1 -L4 are inputted. The controller 19 presumes the car body speed VX( NOW) and coefficient of friction on the road surface on the basis of these input information to control the antiskid on the basis of the result of the presumption.
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