Wheel diameter variation-detecting device

A wheel diameter variation-detecting device for detecting variation in diameter between a plurality of wheels of a vehicle, the wheels rotating independently of each other, comprising:

• wheel rotational speed sensors that detect rotational speeds of the wheels, respectively;
• variation parameter-calculating means for calculating a variation parameter indicative of variation in diameter between the wheels, using one of the wheels as a reference wheel, based on a result of comparison between a detected rotational speed of the reference wheel and a detected rotational speed of another wheel;
• travelled distance-detecting means for detecting a travelled distance of the vehicle;
• variation parameter-learning means for determining a provisional value of a learned value of the variation parameter by averaging a plurality of values of the variation parameter obtained before the detected travelled distance reaches a predetermined distance, and repeating the averaging to obtain the learned value of the variation parameter;
• and
• storage means for storing the determined provisional value of the learned value and the learned value of the variation parameter,
• wherein said variation parameter-learning means updates the learned value to an average value of the determined provisional value of the learned value, the stored latest value of the learned value, and the immediately preceding value of the learned value when an absolute value of a difference between the provisional value of the learned value and the stored latest value of the learned value is smaller than a first predetermined value, and
• defers an update of the learned value when the absolute value of the difference between the provisional value of the learned value and the latest value of the learned value is equal to or larger than the first predetermined value and at the same time an absolute value of a difference between the provisional value of the learned value and the stored immediately preceding value of the provisional value of the learned value is equal to or larger than a second predetermined value,
• wherein said first predetermined value is a parameter for judging whether reliabilities of the provisional value of the learned value and the learned value are high,
• wherein said second predetermined value is a parameter for judging whether reliabilities of the provisional value of the learned value and the immediately preceding value of the provisional value of the learned value are high,
• wherein said variation parameter-learning means determines whether to permit or inhibit a cornering control of the vehicle based on the reliabilities of the provisional value of the learned value and the learned value, and based on the reliabilities of the provisional value of the learned value and the immediately preceding value of the provisional value of the learned value, and
• wherein the wheel diameter variation-detecting device further comprises control means for applying the cornering control of the vehicle to the vehicle based on the determination of the variation parameter-learning means.