| 摘要 |
PURPOSE:To obtain information of high precision by calculating rotative accelerations of right and left wheels based on rotative speeds of right and left wheels and correcting the higher rotative speed based on the lower rotative speed and gradually correcting actual rotative speeds thereafter. CONSTITUTION:A titled device is provided with left and right wheel rotative speed detecting means (a) and (b) and left and right rotative acceleration calculating means (c) and (d) which calculate left and right wheel rotative acceleration vectors W1 and W2. A first correcting means (e) and a second correcting means (f) are provided, and the means (e) corrects higher one of left and right rotative accelerations based on the other, and the means (f) gradually corrects rotative speeds after the correction of the means (e) so that they coincide with each other. After the correction of the means (e), rotative speeds are gradually corrected by the means (f), and left and right rotative speeds W1 and W2 are inputted to a running state calculating means (g) to calculate the radius of turn, the vehicle speed, the yaw rate, the centripetal acceleration, etc. Consequently, input information of high precision is obtained. |
