| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle speed acquiring device suitable for an antilock controller. SOLUTION: First of all, an estimated vehicle speed change quantityΔVve is obtained so as to be integrated, and an estimated vehicle speed Vve is obtained. After a smoothed maximum wheel speed Vwmaxs starts decreasing actually according to braking, the estimated vehicle speed change quantityΔVve (negative) is forcibly reduced gradually without respect to a wheel speed along with the lapse of time, and the estimate vehicle speed Vve is offset downward byΔfrom the smoothed maximum wheel speed Vwmaxs (aΔVve,μforcing condition). After the estimated vehicle speed Vve is increased above a learning start determining speed Vwmintop which is higher speed in the lower front wheel speed and the lower rear wheel speed, which are individually selected between the right front wheel speed and the left front wheel speed and between the right rear wheel speed and the left rear wheel speed, the estimated vehicle speed change quantityΔVve is decided so that a deviation Vvedev between the smoothed maximum wheel speed Vwmaxs and the estimated vehicle speed Vve is reduced, and then, the deviations are integrated and an estimated vehicle speed Vve is obtained (aΔVve,μlearning condition).
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