Method for estimating vehicle speed of a two or four-wheel drive motor vehicle having an anti-lock braking system

摘要

In order to determine slip rates in an anti-lock braking system, vehicle speed is estimated independently on front and rear wheels of the vehicle on the basis of the lower of the front wheel speeds and the lower of the rear wheel speeds. …??In one embodiment, the vehicle speed on the front wheels is estimated on the basis of the higher of: (a) the lower of the front wheel speeds and (b) a value resulting from correction of the highest of all four wheel speeds to allow for inner and outer wheel speed differences during turning of the vehicle. A vehicle speed on the rear wheels is estimated on the basis of the higher of (c) the lower of the rear wheel speeds and (d) a value resulting from correction of the highest of all four wheel speeds. …??In another embodiment for a vehicle with front wheels driven the lower of the driven wheel speeds and both the higher and the lower of the follower wheel speeds are used in the calculations. …IMAGE…