US Patent 8224524 Vehicle and control method of the same

A vehicle includes first and second rotary bodies in contact with a road surface. The vehicle also includes a rotation sensor that detects a rotational state of each of the first and second rotary bodies. Additionally, the vehicle includes a turning sensor that detects a physical quantity representing a turning state of the vehicle on the road surface. The vehicle also includes a calculation unit that calculates a predicted value of a turning parameter representing a turning amount of the vehicle by use of a difference between first and second physical quantities which represent the rotational states of the first and second rotary bodies. In addition, the vehicle includes a slip detection unit that detects occurrence of a slip of the first or second rotary body by comparing the predicted value with an actual measured value of the turning parameter obtained by receiving an output signal of the turning sensor.