| 摘要 |
PROBLEM TO BE SOLVED: To accurately obtain a value of an estimation object to a tread friction factor. SOLUTION: In the device for estimating a tread friction state of a vehicle, a road surface friction factor μ<SB>1</SB>differed from a reference road surface friction factor and a slip angle βt<SB>1</SB>on a road surface with the road surface friction factor μ<SB>1</SB>differed from the reference road surface friction factor are taken as inputs, and a slip angle βt<SB>0</SB>on a reference road surface is obtained by multiplying the input slip angle βt<SB>1</SB>by a value (μ<SB>0</SB>/μ<SB>1</SB>) obtained by dividing the reference road surface friction factor μ<SB>0</SB>by the road surface friction factor μ<SB>1</SB>. According to a tire model obtained by modeling tire characteristics established in a correlation between a tire force and a slippage obtained on the reference road surface with the reference road surface friction factor, a lateral force Fy<SB>0</SB>on the reference road surface corresponding to the slip angle βt<SB>0</SB>on the reference road surface obtained by the multiplication is obtained, and a lateral force Fy<SB>1</SB>on the road surface with the road friction factor μ<SB>1</SB>is obtained by multiplying the obtained lateral force Fy<SB>0</SB>on the reference road surface by a value obtained by dividing the road surface friction factor μ<SB>1</SB>by the reference road surface friction factor μ<SB>0</SB>. COPYRIGHT: (C)2010,JPO&INPIT
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