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`transit data which record of the transit data after it is not performed, but are memorized by EEPROM44
`by then will be maintained, transit data just before a vehicle will be in an abnormal condition can
`certainly be saved.
`[0053] Especially distinction of whether according to the operation gestalt of a graphic display, the
`vehicle is in the unusual condition is performed by steps 50-70. Since distinction of whether the vehicle
`would be in the idle state is performed within the predetermined time amount Tc from the event of the
`absolute value of the condition that the absolute values of the order acceleration Gx are one or more
`reference values Gx, or lateral acceleration Gy being in the condition of being one or more reference
`values Gy, in step 50 After the magnitude of acceleration becomes very large by the collision of a
`vehicle etc., the unusual condition that the vehicle stopped can be judged certainly.
`[0054] Moreover, since a vehicle is in a idle state, respectively, distinction and the vehicle of whether
`the absolute values of the vehicle order acceleration Gx are two or more reference values Gx are in a
`idle state in steps 60 and 70 and distinction of whether the absolute values of the lateral acceleration Gy
`of a vehicle are two or more reference values Gy is performed An abnormal condition toward which the
`installation condition of the order acceleration sensor 30 or the lateral acceleration sensor 32 became
`unusual by the collision of a vehicle etc., or the vehicle itself inclined unusually can be judged certainly.
`[0055] Although this invention was explained above about the specific operation gestalt at the detail,
`probably this invention will not be limited to an above-mentioned operation gestalt, and it will be clear
`for this contractor its for other various operation gestalten to be possible within the limits of this
`invention.
`
`[0056] For example, it sets in an above-mentioned operation gestalt. Although distinction of whether the
`vehicle would be in the idle state is performed within the predetermined time amount Tc from the event
`of the absolute value of the condition that the absolute values of the order acceleration Gx are one or
`more reference values Gx, or lateral acceleration Gy being in the condition of being one or more
`reference values Gy, in step 50 The acceleration Gxy of a vehicle calculates as a square root (Gx2+Gy2)
`(1/2) of the sum of the square of the order acceleration Gx, and the square of lateral acceleration Gy.
`Distinction of whether the vehicle would be in the idle state may be performed within the predetermined
`time amount Tc from the event of the absolute value of the acceleration Gxy of a vehicle being in the
`condition of being more than reference-value Gxyl (forward constant).
`[0057] It sets in an above-mentioned operation gestalt similarly. Step 60 And although a vehicle is in a
`idle state in 70, respectively, distinction and the vehicle of whether the absolute values of the vehicle
`order acceleration Gx are two or more reference values Gx are in a idle state and distinction of whether
`
`the absolute values of the lateral acceleration Gy of a vehicle are two or more reference values Gy is
`performed A vehicle is in a idle state and distinction of whether the absolute value of the acceleration
`Gxy of a vehicle is more than reference-value Gxy2 (forward constant) may be performed.
`[0058] Moreover, although it is distinguished whether the vehicle speed is 0 and a vehicle is in a idle
`state in an above-mentioned operation gestalt by whether sum sigmaVi of Vi is 0 whenever [ wheel
`speed / of each wheel ] Distinction of whether a vehicle is in a idle state may be performed by whether
`sum sigmaVi of whenever [ wheel speed] is below the reference value Vo (forward constant near 0),
`and may be performed by whether the maximum of the Vi(s) is below the reference value Vwo (forward
`constant near 0) whenever [ wheel speed / of each wheel ].
`[0059] Furthermore, in an above-mentioned operation gestalt, although EEPROM54 has three storage
`areas M1-M3 and the ID number consists of a figure of 0-9, these numbers may be the number of
`arbitration, and the transit data of the vehicle recorded on EEPROM54 may also be data of arbitration.
`[0060]
`[Effect of the Invention] According to the configuration of claim 1 of this invention, the case where the
`magnitude of acceleration becomes comparatively large at the time of the usual transit of a vehicle and a
`stop can be distinguished, the abnormal condition of a vehicle can be judged certainly, and transit data
`just before a vehicle will be in an abnormal condition by this can certainly be saved so that more clearly
`than the above explanation.
`[0061] Moreover, since it is not necessary to set up the reference value of an acceleration judging of a
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`vehicle highly according to the configuration of claims 2 and 3, the abnormal condition of a vehicle can
`be judged certainly, and according to the configuration of claim 4, it can prevent certainly being judged
`with the abnormal condition of a vehicle in the situation that the magnitude of acceleration becomes
`comparatively large at the time of usual transit of a vehicle.
`[0062] Moreover, according to the configuration of claim 5, it can prevent certainly that the data after
`the event of a vehicle being in an abnormal condition are overwritten by the storage means, and can
`prevent certainly that transit data just before a vehicle will be in an abnormal condition by this are
`eliminated.
`
`
`
`[Translation done.]
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`* NOTICES *
`
`JPO and NCIPI are not responsible for any
`damages caused by the use of this translation.
`
`1.This document has been translated by computer. So the translation may not reflect the original
`precisely.
`2.**** shows the word which can not be translated.
`
`3.In the drawings, any words are not translated.
`
`PRIOR ART
`
`[Description of the Prior Art] The data recorder constituted so that the transit data of a vehicle might be
`recorded on a storage means by carrying out sequential overwriting, it might judge with the vehicle
`having been in the abnormal condition when the magnitude of the acceleration of a vehicle was beyond
`a reference value and the overwriting to a storage means might be stopped is conventionally known as
`indicated as one of the data recorders of vehicles, such as an automobile, by JP,7-249137,A concerning
`application of an applicant for this patent.
`[0003] Since it is recorded by carrying out sequential overwriting of the transit data of a vehicle at a
`storage means according to this data recorder, the large storage means of storage capacity is
`urmecessary, and since the overwriting to a storage means is stopped when the magnitude of the
`acceleration of a vehicle becomes beyond a reference value, transit data just before the magnitude of the
`acceleration of a vehicle becomes beyond a reference value can certainly be saved.
`
`[Translation done.]
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`* NOTICES *
`
`JPO and NCIPI are not responsible for any
`damages caused by the use of this translation.
`
`l.This document has been translated by computer. So the translation may not reflect the original
`precisely.
`2.**** shows the word which can not be translated.
`
`3.In the drawings, any words are not translated.
`
`EFFECT OF THE INVENTION
`
`[Effect of the Invention] According to the configuration of claim 1 of this invention, the case where the
`magnitude of acceleration becomes comparatively large at the time of the usual transit of a vehicle and a
`stop can be distinguished, the abnormal condition of a vehicle can be judged certainly, and transit data
`just before a vehicle will be in an abnormal condition by this can certainly be saved so that more clearly
`than the above explanation.
`[0061] Moreover, since it is not necessary to set up the reference value of an acceleration judging of a
`vehicle highly according to the configuration of claims 2 and 3, the abnormal condition of a vehicle can
`be judged certainly, and according to the configuration of claim 4, it can prevent certainly being judged
`with the abnormal condition of a vehicle in the situation that the magnitude of acceleration becomes
`comparatively large at the time of usual transit of a vehicle.
`[0062] Moreover, according to the configuration of claim 5, it can prevent certainly that the data after
`the event of a vehicle being in an abnormal condition are overwritten by the storage means, and can
`prevent certainly that transit data just before a vehicle will be in an abnormal condition by this are
`eliminated.
`
`
`
`[Translation done.]
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`* NOTICES *
`
`JPO and NCIPI are not responsible for any
`damages caused by the use of this translation.
`
`l.This document has been translated by computer. So the translation may not reflect the original
`precisely.
`2.**** shows the word which can not be translated.
`
`3.In the drawings, any words are not translated.
`
`TECHNICAL PROBLEM
`
`[Problem(s) to be Solved by the Invention] However, in the conventional data recorder like ****, since
`it is judged with the vehicle having been in the abnormal condition when the magnitude of the
`acceleration of a vehicle is beyond a reference value, even if a vehicle will be in an abnormal condition,
`the abnormal condition may be unable to be judged. namely, since the acceleration of a vehicle may
`become a comparatively high value also at the time of usual transit of a vehicle, when the abnormal
`condition of a vehicle is judged only based on the magnitude of the acceleration of a vehicle the
`reference value of an abnor1nal—conditi0n judging -- a comparatively high value -- not setting up --
`transit data just before it does not obtain, therefore the abnormal condition will not be judged even if the
`abnormal condition like the collision of a vehicle arises, therefore a vehicle will be in an abnormal
`condition may be unable to be saved
`[0005] This invention is made in View of the problem like *** * in the conventional data recorder
`constituted so that the overwriting of transit data to a storage means might be stopped, when the
`magnitude of the acceleration of a vehicle is beyond a reference value, and the main technical problems
`of this invention are certainly saving transit data just before a vehicle's will be in an abnormal condition
`by judging that certainly, when a vehicle will be in an abnormal condition.
`
`
`[Translation done.]
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`* NOTICES *
`
`JPO and NCIPI are not responsible for any
`damages caused by the use of this translation.
`
`l.This document has been translated by computer. So the translation may not reflect the original
`precisely.
`2.**** shows the word which can not be translated.
`
`3.In the drawings, any words are not translated.
`
`MEANS
`
`
`
`[Means for Solving the Problem] A record means by which main above-mentioned technical problems
`record the configuration of claim 1, i.e., the transit data of a vehicle, according to this invention, In the
`data recorder for vehicles which has an abnormal-condition judging means to judge the abnormal
`condition of a vehicle, and the control means which controls said record means based on the judgment
`result of said abnormal-condition judging means An acceleration judging means by which, as for said
`abnorrnal—condition judging means, the magnitude of the acceleration of a vehicle judges whether it is
`beyond a reference value, It has a vehicle speed judging means to judge whether the vehicle speed is
`below a reference value, and is attained by the data recorder for vehicles characterized by judging the
`abnormal condition of a vehicle based on the judgment result of said acceleration judging means and
`said vehicle speed judging means.
`[0007] Generally the vehicle speed in case the magnitude of acceleration becomes comparatively large
`to falling rapidly to a value with the very small vehicle speed while the deceleration of a vehicle will go
`up rapidly to a collision and coincidence if a vehicle generally collides, and becoming a value with the
`very large magnitude of acceleration at the time of usual transit of a vehicle is comparatively high.
`Moreover, when the installation condition of a sensor that the collision of a vehicle etc. detects the
`acceleration of a vehicle becomes unusual or the vehicle itself will be inclined unusually, a sensor comes
`to show regularly the very high value which is not shown at the time of the usual transit of a vehicle, and
`a stop. Therefore, by taking the vehicle speed into consideration in addition to the acceleration of a
`vehicle, the abnormal condition like the collision of a vehicle can be judged certainly.
`[0008] According to the configuration of above-mentioned claim 1, since the abnonnal condition of a
`vehicle is judged based on the judgment result of an acceleration judging means and a vehicle speed
`judging means, it becomes possible to certainly save transit data just before it will become possible to
`distinguish the case where the magnitude of acceleration becomes comparatively large at the time of the
`usual transit of a vehicle, and a stop, and to judge the abnormal condition of a vehicle certainly and a
`vehicle will be in an abnormal condition by this.
`[0009] Moreover, according to this invention, that main above-mentioned technical problems should be
`attained effectively, in the configuration of above-mentioned claim 1, when it judges that the vehicle
`speed is below a reference value with said vehicle speed judging means within predetermined time
`amount from the event of being judged with the magnitude of the acceleration of a vehicle being beyond
`a reference value by said acceleration judging means, said abnormal-condition judging means is
`constituted so that it may judge with the abnormal condition of a vehicle (configuration of claim 2).
`[0010] Since according to the configuration of claim 2 it is judged with the abnormal condition of a
`vehicle when it is judged with the vehicle speed being below a reference value by the vehicle speed
`judging means within predetermined time amount from the event of being judged with the magnitude of
`the acceleration of a vehicle being beyond a reference value by the acceleration judging means, it is not
`necessary to make the reference value of an acceleration judging of a vehicle high, and, thereby, the
`abnormal condition of a vehicle is judged certainly.
`[0011] Moreover, according to this invention, that main above-mentioned technical problems should be
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`attained effectively, in the configuration of above-mentioned claim 1, when it is judged with the vehicle
`speed being below a reference value by said vehicle speed judging means and judges that the magnitude
`of the acceleration of a vehicle is beyond a reference value with said acceleration judging means, said
`abnormal-condition judging means is constituted so that it may judge with the abnormal condition of a
`vehicle (configuration of claim 3).
`[0012] Since according to the configuration of claim 3 it is judged with the abnormal condition of a
`vehicle when it is judged with the vehicle speed being below a reference value by the vehicle speed
`judging means and is judged with the magnitude of the acceleration of a vehicle being beyond a
`reference value by the acceleration judging means, it is not necessary to make the reference value of an
`acceleration judging of a vehicle high, and, thereby, the abnormal condition of a vehicle is judged
`certainly.
`[0013] Moreover, according to this invention, that main above-mentioned technical problems should be
`attained effectively, in above-mentioned claim 1 thru/or which configuration of 3, when the vehicle
`speed is 0 substantially, said vehicle speed judging means is constituted so that it may judge with the
`vehicle speed being below a reference value (configuration of claim 4).
`[0014] Since according to the configuration of claim 4 it is judged with the vehicle speed being below a
`reference value when the vehicle speed is 0 substantially, being judged with the abnormal condition of a
`vehicle in the situation that the magnitude of acceleration becomes comparatively large at the time of
`usual transit of a vehicle is prevented certainly.
`[0015] Moreover, according to this invention, it sets in above-mentioned claim 1 thru/or which
`configuration of 4 that main above-mentioned technical problems should be attained effectively. Said
`record means is recorded by writing transit data in this storage means by overwrite including a storage
`means to memorize the transit data of a vehicle. When the abnormal condition of a vehicle is judged by
`said abnormal-condition judging means, said control means is constituted so that record by said record
`means may be forbidden (configuration of claim 5).
`[0016] According to the configuration of claim 5, when the abnormal condition of a vehicle is judged by
`the abnormal-condition judging means, record by the record means is forbidden, and it is prevented
`certainly that the data after the event of a vehicle being in an abnormal condition by this are overwritten
`by the storage means and that transit data if it puts in another way, just before a vehicle will be in an
`abnormal condition are eliminated.
`
`[001 7]
`[The desirable mode of a technical-problem solution means] According to one desirable mode of this
`invention, it is constituted in the configuration of above-mentioned claim 1 so that it may have a record
`judging means judge whether a record means should record the transit data of a vehicle, a storage means
`memorize transit data, and the means that write in in transit data to a storage means when the judgment
`of the purport which should record transit data with a record judging means is performed (a desirable
`mode 1).
`[0018] other one desirable voice of this invention -- if it depends like -- the above -- in the configuration
`of the desirable mode 1, it is constituted so that it may judge whether a record judging means should
`record the transit data of a vehicle for every predetermined time amount (desirable mode 2).
`[0019] According to other one desirable mode of this invention, in the configuration of above-mentioned
`claim 1, a vehicle has kinematic-control equipment which performs kinematic control for motion
`stabilization of the vehicle at the time of transit, and when kinematic control is performed by kinematic-
`control equipment, a record judging means is constituted so that the purport which should record transit
`data may be judged (desirable mode 3).
`[0020] In the configuration of above-mentioned claim 1, including a means to detect the lateral
`acceleration of a vehicle, when the magnitude of the lateral acceleration of a vehicle is beyond a
`reference value, according to other one desirable mode of this invention, a record judging means is
`constituted so that the purport which should record transit data may be judged (desirable mode 4).
`[0021] According to other one desirable mode of this invention, it sets in the configuration of above-
`mentioned claim 2. It judges whether it is beyond the reference value with which the magnitude of the
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`lateral acceleration of a vehicle corresponds while judging whether an acceleration judging means is
`beyond a reference value with which the magnitude of vehicle order acceleration corresponds. From the
`event of being judged with it being beyond the reference value with which the magnitude of the lateral
`acceleration of the event of being judged with it being beyond the reference value to which the
`magnitude of vehicle order acceleration corresponds with an acceleration judging means, or a vehicle
`corresponds, within predetermined time amount with a vehicle speed judging means When judged with
`the vehicle speed being below a reference value, it is constituted so that it may judge with the abnormal
`condition of a vehicle (desirable mode 5).
`[0022] According to other one desirable mode of this invention, it sets in the configuration of above-
`mentioned claim 3. It judges whether it is beyond the reference value with which the magnitude of the
`lateral acceleration of a vehicle corresponds while judging whether an acceleration judging means is
`beyond a reference value with which the magnitude of vehicle order acceleration corresponds. It is
`judged with the vehicle speed being below a reference value by the vehicle speed judging means. With
`and an acceleration judging means When judged with it being beyond the reference value with which the
`magnitude of vehicle order acceleration corresponds Or when judged with it being beyond the reference
`value to which it is judged with the vehicle speed being below a reference value by the vehicle speed
`judging means, and the magnitude of the lateral acceleration of a vehicle corresponds with an
`acceleration judging means, it is constituted so that it may judge with the abnormal condition of a
`vehicle (desirable mode 6).
`[0023] According to other one desirable mode of this invention, in the configuration of above-mentioned
`claim 5, a storage means has two or more storage areas, and it is constituted so that transit data may be
`written in the storage area which has memorized the oldest transit data by overwrite (desirable mode 7).
`[0024]
`[Embodiment of the Invention] This invention is explained to a detail about a desirable operation gestalt,
`referring to drawing of attachment in the following.
`[0025] The outline block diagram showing one desirable operation gestalt of the transit data recorder for
`vehicles by this invention by which
`was applied to the vehicle with which kinematic-control
`equipment was carried, and
`are the block diagrams showing the transit data recorder shown in
`drawi g l .
`[0026] In drawing 1 , l0floor line and l0FR show the front wheel of right and left of a vehicle 12,
`respectively, and 10RL and 10RR(s) show the rear wheel of right and left of a vehicle, respectively. The
`damping force of each wheel is controlled by controlling the braking pressure of wheel-cylinder 18FR,
`l8floor line, 18R, and l8RL by the hydraulic circuit 16 of a damping device 14. Although not shown
`in drawing, sometimes, a hydraulic circuit 16 is usually controlled for the braking pressure of each
`wheel cylinder by the control unit 24 for kinematic control according to the pressure in the master
`cylinder 22 driven by treading-in actuation of the brake pedal 20 by the operator including an oil
`reservoir, a lubricating oil pump, various valve gears, etc.
`[0027] Sensor 28FR, 28floor line, 28RR, and 28RL are prepared in the location close to wheel l0FR-
`l0RL whenever [wheel speed / which detects Vi (i=fr, fl, rr rl) whenever / wheel speed / of each
`wheel /, respectively]. Moreover, the acceleration sensor 30 before and after detecting the car-body
`order acceleration Gx, respectively, the lateral acceleration sensor 32 which detects lateral acceleration
`Gy, and the steering angle sensor 34 which detects the steering angle theta are formed in the vehicle 12.
`The signal which shows the value detected by each sensor is inputted into the control device 24 for
`kinematic control, and is inputted into the control device 40 for transit data logging through the control
`device 24 for kinematic control.
`[0028] If the braking slip ratio Rs of each wheel is calculated based on Vi whenever [wheel speed /
`which was detected by sensor 28FR-28RL whenever / wheel speed ] and the braking slip ratio Rs
`becomes beyond a reference value Rso (forward constant), the control unit 24 for kinematic control will
`start the antiskid control which fluctuates damping force so that the braking slip ratio Rs of the wheel
`concerned may become within the limits of predetermined, and if the terminating condition set up
`beforehand is satisfied, it will end an antiskid control.
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`[0029] In this way, although the control unit 24 for kinematic control constitutes the kinematic-control
`equipment which raises the stability at the time of transit of a vehicle by having two incomes with a
`damping device 14, and rationalizing a braking slip of a wheel when there is a possibility that a braking
`slip of a wheel may become superfluous and the motion at the time of transit of a vehicle may become
`instability An input of the signal of the purport which forbids the kinematic control of a vehicle from the
`control device 40 for transit data logging like the after-mentioned does not perform kinematic control
`(antiskid control).
`[0030] In addition, the antiskid control as kinematic control performed by the control device 24 for
`kinematic control does not make the surrunary of this invention, and may be performed in the way of
`well—known arbitration in this technical field. Moreover, in addition to an antiskid control, the control
`device 24 for kinematic control performs other kinematic control like the traction control by control of
`damping force, or behavior stabilization control.
`[0031] The control unit 40 for transit data logging contains EEPROM54 which is the memory of a non-
`volatile as external storage, including the microcomputer 52 of a general configuration of that have
`CPU42, ROM44 and RAM46, and input/output port equipment 48, and these were mutually connected
`by the common bus 50 of bidirection as shown in drawing 2 .
`[0032] The control unit 40 for transit data logging judges periodically whether the quantity of state
`detected by each sensor based on the information on lateral acceleration Gy or the control unit 24 for
`kinematic control like the after-mentioned, i.e., the transit data of a vehicle, should be recorded, and
`when the judgment of the purport which should record transit data is performed, it records transit data on
`EEPROM54.
`\
`
`[0033] Furthermore, the control unit 40 for transit data logging judges whether based on Vi, the after
`acceleration Gx, and lateral acceleration Gy, the vehicle would be in the abnormal condition like the
`after-mentioned whenever [ wheel speed ], when the judgment of the purport from which the vehicle is
`not an abnormal condition is performed, record of transit data is permitted, but when the judgment of the
`purport that the vehicle would be in the abnormal condition is performed, it forbids that the transit data
`after it should be recorded by overwrite.
`[0034] The section S1 where EEPROM44 has three storage areas M1-M3 in the operation gestalt of a
`graphic display in as shown in drawing 3 , and each storage area memorizes the ID number as
`identification information about record timing, respectively, Whenever [wheel speed] Vfr, Vfl, Vrr,
`Vrl, the order acceleration Gx, lateral acceleration Gy, It has the section S2 which memorizes each
`transit data of braking slip ratio Rsfr of the steering angle theta, a right front wheel, a left front wheel, a
`right rear wheel, and a left rear wheel, Rsfl, Rsrr, and Rsrl, and the section S3 which memorizes the
`judgment result of whether the vehicle would be in the abnormal condition.
`[0035] An ID number consists of a figure of 0-9, in order of [ 0 ] record of data, is used to 9 in order,
`and is repeatedly returned and used for the degree of 9 by 0. Moreover, record of data is storage areas
`M1, M2, M3, M1 , and M2. —- It is repeatedly carried out by overwrite in order. Therefore, it can judge
`whether which data are the newest data and are data with which oldest data by the ID number recorded
`on the section S1 of storage areas Ml-M3.
`[0036] Although not shown in **** at a detail, the control unit 24 for kinematic control also has CPU,
`ROM and RAM, and input/output port equipment, and these contain the microcomputer of a general
`configuration of having connected mutually with the common bus of bidirection.
`[0037] Next, with reference to the flow chart shown in drawing 4 , record control of the transit data of
`the vehicle in the operation gestalt of a graphic display is explained. In addition, closing of the ignition
`switch which is not shown in drawing begins, and control by the flow chart shown in drawing 4 is
`repeatedly performed for every predetermined time amount.
`[0038] While the signal which shows Vi whenever [ wheel speed / which was first detected by sensor
`28FR-28RL whenever / wheel speed / in step 10 ] is read through the control unit 24 for kinematic
`control, the signal which shows whether the antiskid control as kinematic control is performed from the
`control unit 24 for kinematic control is read. The signal which shows the detection value of a ****
`sensor may be directly read from a corresponding sensor, respectively.
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`[0039] When record control of transit data is completed and negative distinction is performed after the
`signal of the purport which should forbid kinematic control to the control device 24 for kinematic
`control in step 30 was outputted, when distinction of whether the information which shows that the
`vehicle would be in the abnormal condition into the section S3 of which storage area in step 20 is
`memorized was performed and affirmation distinction was performed, it progresses to step 40.
`[0040] When distinction of whether the transit data of a vehicle need to be recorded is performed in step
`40, negative distinction is performed and return and affirmation distinction are performed to step 10, it
`progresses to step 50.
`[0041] In addition, distinction of whether transit data need to be recorded For example, it is carried out
`by distinction of whether kinematic control (an antiskid control or other kinematic control) by
`distinction of whether the absolute value of the lateral acceleration Gy of a vehicle is beyond the
`reference value Gyo (forward constant) and the control device 24 for kinematic control is performed.
`When distinction of a purport to which kinematic control by the distinction of a purport or the control
`device 24 for kinematic control whose absolute value of lateral acceleration Gy is beyond the reference
`value Gyo is performed is performed, it may be judged with transit data needing to be recorded.
`[0042] While sum sigmaVi of Vi calculates whenever [wheel speed / of each wheel] in step 50
`Distinction of whether sum sigmaVi of whenever [ wheel speed ] was set to 0 from the event of the
`absolute value of the condition that the absolute value of the order acceleration Gx is more than
`reference-value Gxl (forward constant), or lateral acceleration Gy being in the condition of being more
`than reference-value Gyl (forward constant) within the predetermined time amount Tc (forward
`constant), That is, after the magnitude of vehicle order acceleration or lateral acceleration becomes a
`very high value, distinction of whether the vehicle stopped progresses to step 100, when a line crack and
`affirmation distinction are performed, and when negative distinction is performed, it progresses to step
`60.
`
`[0043] In addition, the reference values Gxl and Gyl of the distinction in step 50 are set as the
`comparatively large value which is not produced at the time of the usual transit of a vehicle (the transit
`in usual acceleration and deceleration, a usual slope, etc. is included), respectively.
`[0044] Distinction of whether in step 60, sum sigmaVi of Vi is 0 whenever [ wheel speed/ of each
`wheel ], and the absolute value of the vehicle order acceleration Gx is more than reference-value GX2
`(forward constant), That is, when distinction of whether the magnitude of the vehicle order acceleration
`with which a vehicle is in a idle state, and is detected is a very high value is performed and affirmation
`distinction is performed, it progresses to step 100, and when negative distinction is performed, it
`progresses to step 70.
`[0045] Distinction of whether in step 70, sum sigmaVi of Vi is 0 whenever [ wheel speed / of each
`wheel ], and the absolute value of the lateral acceleration Gy of a vehicle is more than reference-value
`Gy2 (forward constant), That is, when distinction of whether the magnitude of the lateral acceleration of
`the vehicle with which a vehicle is in a idle state, and is detected is a very high value is performed and
`affirrnation distinction is performed, it progresses to step 100, and wh