Patent ID: 8725381

Claim:
A slip detection apparatus configured to detect a slip of a vehicle that is driven with power output to a driveshaft, the slip detection apparatus comprising: a first wheel rotation speed sensor configured to obtain a first wheel rotation speed or a rotation speed of one of left and right wheels linked with the driveshaft; a driveshaft rotation speed sensor configured to obtain a driveshaft rotation speed or a rotation speed of the driveshaft; and a slip detector configured to detect occurrence of a slip of one of the left and right wheels based on the obtained first wheel rotation speed, compute a second wheel rotation speed as a rotation speed of the other of the left and right wheels by subtracting the obtained first wheel rotation speed from a product of the obtained driveshaft rotation speed and a preset coefficient, and detect occurrence of a slip of the other of the left and right wheels based on the computed second wheel rotation speed, wherein the first wheel rotation speed sensor is the only wheel rotation speed sensor connected to either one of the left and right wheels; and wherein the slip detector detects the slip by: calculating a first wheel acceleration by comparing a previously obtained first wheel rotation speed to the obtained first wheel rotation speed, calculating a second wheel acceleration by comparing a previously calculated second wheel rotation speed to the second wheel rotation speed, comparing each of the first wheel acceleration and the second wheel acceleration to a preset first wheel acceleration and a preset second wheel acceleration, and determining that the slip has occurred when either the first wheel acceleration exceeds the preset first wheel acceleration or the second wheel acceleration exceeds the preset second wheel acceleration.