Abstract: A road surface information collection device includes a first sampling unit that samples acceleration sensor's detection results with a first sampling cycle to obtain first sampling data, a position calculator that calculates an acceleration sensor's rotational position based on changes in first sampling data, a second sampling unit that is activated based on a condition that the acceleration sensor is positioned within a first predetermined range including a back side of a point on the tire in contact with the ground, and that samples detection results of the acceleration sensor with a second sampling cycle shorter than first sampling cycle to obtain second sampling data as the road surface information, a speed calculator that detects a rotation speed of the tire based on changes in the first sampling data, and a first predetermined range determination unit that changes the first predetermined range in accordance with the rotation speed of tire.

Abstract: Braking/driving force control that includes: detecting a driver's operating state for causing the vehicle to run; detecting a vehicle body motional state while the vehicle is running; computing a target longitudinal driving force for causing the vehicle to run and motional state amounts for controlling a vehicle body behavior on the basis of the detected operating state and motional state; and computing driving or braking forces allocated to the wheels so as to achieve the computed target longitudinal driving force and target motional state amounts and that the braking/driving force generating mechanism causes the wheels to generate independently.

Abstract: An anti-locking control system is described in which the by electrical interference in the range of the mains frequency of conventional power supplies are detected and eliminated. To that end, in the range of critical speeds, a new reference vehicle speed is formed from the ascertained vehicle speed only if the time intervals between the arriving signal edges of the various rpm sensors are not in the range of the mains frequency.