| 摘要 |
PROBLEM TO BE SOLVED: To provide an estimation apparatus which can suppress the influence of the resolution a zero-point correction, a noise or the like of a sensor to the minimum and which estimates a road-surface friction coefficient with high accuracy, even if there is no vibratory steering input. SOLUTION: A reference yaw rate computing part 11 computes the reference value of a yaw rate (reference yaw rate), from vehicle speed and steering wheel angle on the basis of a vehicle motion model. A yaw rate deviation computing part 12 computes the deviation (yaw rate deviation) between the yaw rate and the reference yaw rate, on the basis of the reference yaw rate and on the basis of an actual yaw from a yaw rate sensor 4. A yaw rate deviation dispersion value computing part 13 computes the dispersion value (yaw rate deviation dispersion value) of the yaw rate deviation in the preset number of samples. A road-surface coefficient-of-friction setting part 14, to which the vehicle speed and the yaw rate deviation dispersion value are inputted, refers to a map which is preset by these values, and it sets the road-surface coefficient of friction so as to be outputted.
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