| 摘要 |
PROBLEM TO BE SOLVED: To provide a friction condition estimation device which is reduced in false estimation in straight traveling, sudden turning traveling or the like. SOLUTION: An ATTS-ECU 16 determines whether an actual yaw rateγr is smaller than a predetermined straight traveling determination thresholdγth in step S21, and sets a straight traveling flag Fsr to 1 in step S22 when this determination is Yes. The ATTS-ECU 16 determines whether the straight traveling flag Fsr is 1 in step S31, and outputs an initial valueμint of road surfaceμas a current valueμn in step S32 when this determination is Yes. The initial value int is a road surfaceμwhen a vehicle with standard tires is traveling on a standard road surface (dry asphalt road surface, etc.), and set to, for example, about "0.7". COPYRIGHT: (C)2011,JPO&INPIT |
