| 摘要 |
PROBLEM TO BE SOLVED: To provide a protection method against wheel slipping/locking in movement measurement for a vehicle. SOLUTION: The change of an acceleration value define a condition change of an automatic machine having a limited condition reflecting a wheel operating state in a vehicle. In the first step, a start of vehicle braking is detected in an instantγ<0, in the second step, a start of slip of the vehicle is detected, and in the third step, a predetermined value is added to a slip for carrying out control for stabilizing the slip. In the fourth step, a wheel lock is detected with respect to an instantγ<-X m/s<2> , when an X is a specified value no longer using vehicle movement measurement.
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