| 摘要 |
PURPOSE:To accurately decide a condition of grounding a wheel so as to contribute to safety driving by obtaining a deviation between an estimated value and the actual value of a yaw rate, and determining a decision value, representing the condition of grounding the wheel, based on this deviation when a brake pedal is not stepped in. CONSTITUTION:A microcomputer 31 for deciding a grounded condition of four wheels FW1 to RW2 from outputs of wheel speed sensors 33a, 33b, yaw rate sensor 34 and a brake switch 35 is provided. Here, an estimated yaw rate in proportion to a rotational speed difference between the front wheels FW1, FW2, which are not drive wheels, is first calculated and also comparing this estimated yaw rate with a detected yaw rate to obtain a deviation therebetween. Next, a decision value for representing the grounded condition of the wheel improper in accordance with increasing this deviation is determined based on the yaw rate deviation on condition that no step-in operation is detected in a brake pedal. This decision value is compared with a predetermined value to display the grounded condition by controlling lighting a lamp 38. |
