PROBLEM TO BE SOLVED: To improve accuracy in judging the abnormality of a tire pneumatic pressure by calculating an estimated disturbance correction caused by resonance of the wheels in the yaw direction and judging the abnormality of the tire pneumatic pressure based on the estimated disturbance corrected by this correction. ;SOLUTION: A tire pneumatic pressure judging device 16 is provided with a disturbance correction value calculating block 38 and a disturbance correcting block 40. The disturbance correction value calculating block 38 calculates the disturbance correction value based on the wheel speed after pretreatment filtering so as to eliminate any effect of resonance noise of the wheel in the yaw direction. The disturbance correcting block 40 corrects the disturbance estimated by a disturbance observer 30 based on the disturbance correction value. This constitution can judge the abnormality of the tire pneumatic pressure based on the estimated disturbance, etc., substantially having no effects of the resonance noise in the yaw direction even in a state of easily receiving the effects of the resonance noise in the yaw direction contained in the wheel speed signal.;COPYRIGHT: (C)1998,JPO
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