| 摘要 |
PCT No. PCT/JP93/01267 Sec. 371 Date Mar. 8, 1995 Sec. 102(e) Date Mar. 8, 1995 PCT Filed Sep. 7, 1993 PCT Pub. No. WO94/05521 PCT Pub. Date Mar. 17, 1994A device for automatically detecting vehicle slip. A theoretical turning velocity omega t is detected when wheels or crawlers of a vehicle 1 do not slip at all with respect to the road surface on which the vehicle travels based on outputs v and phi of a vehicle speed sensor 5 and a steering angle sensor 4. A current turning angular velocity omega r of the vehicle 1 is then computed based on the output of a heading angle sensor 6. The slip of the vehicle 1 is then detected based on a difference between these two turning angular velocities omega t and omega r. It is therefore possible to prevent course deviation and the like, and thus possible to dramatically improve vehicle safety.
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