Patent ID: 8478483
Filing Date: 2013-07-02
Classification: B60T

Abstract:
1. An apparatus for detecting a skid occurred on a vehicle having a prime mover and a transmission that changes an output of the prime mover in speed and transmits the output to front right/left wheels and rear right/left wheels to drive them, comprising: a front/rear wheel rotational speed detector that detects each rotational speed of the front wheels and that of the rear wheels; an actual rear right/left wheel speed ratio calculator that calculates an actual rear right/left wheel speed ratio between the rear right/left wheel speeds based on the detected front wheel rotational speed and the rear wheel rotational speed; a grip-driving front/rear wheel slip ratio calculator that calculates a front/rear wheel slip ratio during grip-driving by retrieving characteristics of a front/rear wheel slip ratio set with respect to a rear right/left wheel speed ratio using the calculated actual rear right/left wheel speed ratio, which characteristics are calculated and prepared in advance based on assumption that the front and rear wheels grip a road; an actual front/rear wheel slip ratio calculator that calculates an actual front/rear wheel slip ratio based on the detected front wheel rotational speed and the rear wheel rotational speed; and a skid determiner that determines that a skid has occurred based on a difference between the calculated front/rear wheel slip ratio during grip-driving and the calculated actual front/rear wheel slip ratio, wherein the skid determiner determines that the skid has occurred when the difference is out of a range defined by skid detection threshold values.