| 摘要 |
A road friction coefficient estimating unit (28) calculates a tire sideslip angle (²) and a cornering force (CF), and estimates a road friction coefficient on the basis of the ratio (”CF/A²) of the calculated cornering force (CF) to the calculated tire sideslip angle (²). A vehicle travels on multiple road surfaces that differ in road friction coefficient (µ), and tire sideslip angles (²) and cornering forces (CF) on the road surfaces are detected in advance. The road friction coefficient estimating unit (28) stores, in a memory (29), a correlation among the detected tire sideslip angles, the detected cornering forces, and the road friction coefficients in the form of numerical values or a mathematical expression, and estimates a road friction coefficient using the correlation stored in the memory (29). |
