Lyon & Lyon
Method of estimating vehicle speed
 In estimating a vehicle speed from a wheel speed and comparing the wheel speed with a reference threshold provided on the basis of that vehicle speed to control the supplying of a hydraulic braking pressure to wheel brakes, when the wheel speed is larger than the estimated vehicle speed, a predetermined value is added to that estimated vehicle speed to amend the latter, and conversely, when the wheel speed is smaller than the estimated vehicle speed, a predetermined value is subtracted from that estimated vehicle speed to amend the latter. Thus, the amended values are used as an estimated vehicle speed for controlling the hydraulic braking pressure. 
Honda Giken Kogyo Kabushiki Kaisha
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inventional inventional additional additional
Tetsuji
Muto