Road surface frictional coefficient estimating apparatus

摘要

A road surface frictional coefficient estimating apparatus (26) includes a device (26b) which determines a first estimated value of a to-be-compared external force acting on a vehicle due to the resultant force of road surface reaction forces by using a determined frictional coefficient estimated value and the like, and a device (26a) which determines a second estimated value of the to-be-compared external force from the observed value of motional state amounts of the vehicle that define an inertial force corresponding to the to-be-compared external force.
The estimated value of a road surface frictional coefficient is updated on the basis of the difference between the first estimated value and the second estimated value. In the case where the first estimated value and the second estimated value have polarities that are opposite from each other, the updating of the estimated value of the road surface frictional coefficient on the basis of the difference is not carried out.