Abstract: A control system for a vehicle includes an ECU, a front wheel speed sensor, a rear wheel speed sensor, and an engine. The ECU detects an actual slip speed and an actual slip ratio of a rear wheel on the basis of respective detected values of a front wheel speed sensor and a rear wheel speed sensor. Slip speed traction control is started when the actual slip speed exceeds a threshold value of a slip speed when a vehicle is at a low speed, and slip ratio traction control is started when the actual slip ratio exceeds a threshold value of a slip ratio when it is at an intermediate or high speed. An output of the engine is adjusted depending on the actual slip speed in the slip speed traction control, while being adjusted depending on the actual slip ratio in the slip ratio traction control.

Abstract: In an acceleration estimation device for estimating acceleration of a vehicle, a Karman filter for constant speed estimates x-direction acceleration offset and z-direction acceleration offset when a motorcycle is stopped and is traveling at a constant speed. An offset corrector corrects an x-direction acceleration and a z-direction acceleration on the basis of an x-direction acceleration offset estimated value and a z-direction acceleration offset estimated value when the motorcycle is accelerated and decelerated. A Karman filter for acceleration/deceleration estimates the pitch angle of a vehicle body on the basis of a wheel speed and the corrected x-direction acceleration and z-direction acceleration when the motorcycle is accelerated and decelerated. An acceleration corrector obtains an X-direction acceleration and a Z-direction acceleration on the basis of the estimated pitch angle and the corrected x-direction acceleration and z-direction acceleration.

Abstract: In an acceleration estimation device for estimating acceleration of a vehicle, a Karman filter for a constant speed estimates x-direction acceleration offset and z-direction acceleration offset when a motorcycle is stopped and is traveling at constant speed. An offset storage stores an x-direction acceleration offset estimated value and a z-direction acceleration offset estimated value. An offset corrector corrects an x-direction acceleration and a z-direction acceleration on the basis of the x-direction acceleration offset estimated value and the z-direction acceleration offset estimated value when the motorcycle is accelerated and decelerated. A Karman filter for acceleration/deceleration estimates the pitch angle of a vehicle body when the motorcycle is accelerated and decelerated. An acceleration corrector obtains an X-direction acceleration and a Z-direction acceleration on the basis of the estimated pitch angle.