| 摘要 |
PURPOSE:To enable a slip to be correctly detected before its generation in a driving wheel, by comparing a driving wheel rotary condition in its detection result with a reference value determined in accordance with a road surface condition in its detection result and deciding the driving wheel in a slipping condition. CONSTITUTION:When a vehicle is in operation, an electronic control circuit 20 first detects whether or not a road surface is in an easily slipping condition, that is, a rod surface condition by a dampness sensor 22 which detects roughness of the road surface from the reflectivity by emitting light, ultrasonic wave, etc. to the road surface. While a rotary speed of a driving wheel or its acceleration is detected by an output from a driving wheel speed sensor 26. Next the circuit 20, using a detection result of the road surface condition and estimating a maximum value of friction force and a slip rate or the like for obtaining the maximum value, determines on the basis of this estimation a reference value in which an optimum level of rotary speed or acceleration is obtained in a rotary condition of the driving wheel. And the circuit 20, comparing this reference value with an actual rotary speed of the driving wheel or its acceleration, decides the wheel in a slipping condition. |
