| 摘要 |
An antiskid control device including a vehicle speed estimating device for estimating a vehicle speed from a plurality of wheel speeds of the driven and undriven wheels of a motor vehicle. The vehicle speed estimating device includes a first comparator for comparing the speeds of the wheels, a storage for temporarily storing the estimated vehicle speed or an ultimately selected wheel speed, a second comparator for comparing the speed stored in the storage with the speeds of the driven wheels and a storage updating device for causing, at the time when antiskid control has been started, the storage of the estimated vehicle speed obtained at the time or the ultimately selected wheel speed obtained at the time. During nonexecution of antiskid control, a highest speed among the speeds of the undriven wheels is selected to calculate the speed of the vehice body, while during execution of antiskid control, another highest speed among the speeds of the undriven wheels and the speeds of the driven wheels lower than the speed stored in the storage is selected to calculate the speed of the vehicle body.
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