| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate a road state even when up-and-down slopes appear on a running road surface. SOLUTION: A road surface state estimating device for a vehicle calculates a driving torque differential valueΔT, an inertial force differential value of a vehicleΔAx, an inertial force change amount differential value of a vehicleΔ(dAx/dt), based on a state equation withΔAx set as a state variable andΔT set as an input variable, estimates a first determination coefficient A to be multiplied withΔAx, or a second determination coefficient B to be multiplied withΔT, and determines a road surface state by comparing a determination threshold with the first determination coefficient A or the second determination coefficient B. COPYRIGHT: (C)2009,JPO&INPIT
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