| 摘要 |
PURPOSE:To perform accurate vehicle speed control by accurately calculating a ratio of wheel speed when a normal driving condition at which the vehicle is not under an acceleration/deceleration condition, that is, when slip in driving direction is small, and compensating the wheel speed based on this accurate speed ratio. CONSTITUTION:Driven wheel speed calculated by a means 14, the absolute value of yaw rate obtained by a means 16 and acceleration speed of a vehicle body calculated by a means 19 are inputted in a means 20 together with a signal from brake switches 3, 4 and the like. It is judged whether the vehicle is under a normal straight running condition except the acceleration/deceleration condition and a forming operation condition or not. Left and right driving wheel speeds detected by vehicle speed sensors 1DL, 1DR are inputted to speed compensation means 21L, 21R, which correspond individually to those sensors so as to make compensation individually. Driven wheel speed calculated by a means 14 and driving wheel speed calculated by a means 22 are inputted in a means 23. A speed ratio calculated by the means 23 is inputted to the means 21L, 21R, respectively. |
