| 摘要 |
PURPOSE:To restrain the variation of an estimated vehicle speed, by performing smoothing treatment for the lately decided estimated vehicle speed, in a method in which an intermediate value, among the highest value of the wheel speeds of plural wheelsand the upper and lower limit vehicle supeed supposed from an estimated vehicle speed decided precedingly, is decided as the current estimated vehicle speed. CONSTITUTION:The current tentative estimated vehicle speed VSOP(n), an intermediate value among the highest wheel speed and the upper and lower limit vehicle speeds, is operated (S107). The sum, of the product of the difference, between the current tentative estimated vehicle speed and the preceding final estimated vehicle speed VSOF(n-1), and a coefficient (b) and of the product of the preceding vehicle speed increment DELTAVSO(n-1) and a coefficient (a), is decided as the current vehicle speed increment DELTAVSO(n) (S108). The sum of the current vehicle speed increment and the precedent final estimated vehicle speed VSOF(n-1) is decided as the current final estimated vehicle speed VSOF(n) (S109). Second-time tropical low-pass filter treatments are performed for a tentative estimated vehicle speed VSOP, restraining the variation of an estimated vehicle speed used in anti-look control. |
