| 摘要 |
PURPOSE:To prevent the mulfanction in the control device by switching a controlled car speed to an estimated car speed at the time when a correction of the operational constant in the operation unit of a car speed according to the wheel speed and car speed in a vehicle stable running state is not finished for a constant time. CONSTITUTION:A wheel speed operating unit 2 for calculating a wheel speed from the output of a wheel speed sensor 1, an estimated car speed operating unit 3 for estimating a car speed based on the wheel speed and a car speed operating unit 5 for calculating the car speed from the output of a ground speed sensor 4 are provided. In a stable running state of a vehicle, the operational constant of a car speed operating unit 5 is corrected so that the car speed coincides with the wheel speed in the car speed correcting unit 6. When the correction is not finished after the elapse of a constant time from the starting the correction, a controlled car speed is switched from the output speed of a car speed operating unit 5 to an estimated car speed of an estimated car speed operating unit so as to be outputted to the following control element.
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