| 摘要 |
PURPOSE:To achieve accuracy, by providing detection means for detecting a longitudinal acceleration and an angle of inclination of a body and a caterpillar speed respectively to compute a caterpillar slippage rate from a vehicle speed computed based on the acceleration and the caterpillar speed. CONSTITUTION:A body 21 is provided with an acceleration sensor 13, an inclinometer 14 for detecting an angle of longitudinal inclination, a sensor 15 and the like for detecting a caterpillar speed and a controller 10 to compute and output a slippage rate signal S from a detection signal. Then, while an synthetic acceleration detected with the sensor 15 is inputted to the controller 10 to correct, an actual vehicle speed is computed as acceleration based on a vehicle speed. A theoretical vehicle speed is computed by multiplying output revolutions of a torque converter, a gear ratio and a sprocket circumferential length and a caterpillar slippage rate S is computed and outputted from the actual vehicle speed and the theoretical vehicle speed. This enables accurate detection even for an ungraded land or the like. |
