| 摘要 |
PURPOSE:To securely detect road surface mu with good response by finding acceleration in front of and behind a vehicle body when all driving wheels slip on a road surface. CONSTITUTION:The outputs of revolution sensors 21FR, 21FL, 21RR, and 21RL provided on the respective wheels are supplied to mean speed calculating means 26a and 26b to calculate their arithmetic mean value, and a four-wheel mean speed calculating means 26c finds a mean speed V. Then a differentiating means 26d performs differentiation to find wheel acceleration GV. This value GV is compared by a comparator 27 with the output G of an acceleration sensor 22 and the absolute value of the difference DELTAG is compared by a comparator 29 with the threshold level DELTAGS of a threshold level setting means 28. Then when the absolute value is larger than DELTAGS and DELTAG>=0, a slip deciding means 31 decides that the vehicle is in a slip state and a road surface mu calculating means 32 calculates the road surface mu from the value G and outputs it.
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