| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To accurately and stably estimate a friction coefficient by preventing the occurrence of such a situation that an estimated value of the friction coefficient of a road surface on which a vehicle travels is updated in a direction of deviating from an actual friction coefficient. <P>SOLUTION: The road surface friction coefficient estimating device includes a means for obtaining a first estimated value Mnsp_estm of external force to be compared (S118-2), a means for obtaining a second estimated value Mnsp_sens (S118-1), and a plurality of increase/decrease operation amount determining means for determining the increase/decrease operation amountΔμ_k of the friction coefficient estimated value based on the first estimated value Mnsp_estm and the second estimated value Mnsp_sens, and updates the friction coefficient estimated value according toΔμ_k. The increase/decrease operation amount determining means determinesΔμ_1,Δμ_2 according to the deviation between the filtering values of the first estimated value and second estimated value, and determinesΔμ_1 according to the deviation between the first estimated value and the second estimated value. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
