ROAD SURFACE FRICTIONAL COEFFICIENT ESTIMATING APPARATUS

摘要

PROBLEM TO BE SOLVED: To estimate a frictional coefficient of a road surface on which a vehicle travels while restraining an estimated value of the frictional coefficient from developing unstable changes and also restraining deterioration in the accuracy of the estimated value. SOLUTION: A road surface frictional coefficient estimating apparatus includes: a means (S102 to S116, S122-2) for determining a first estimated value Mnsp_estm of a to-be-compared external force acting on a vehicle 1 due to the resultant force of road surface reaction force; a means (S122-1) for determining a second estimated value Mnsp_sens of the to-be-compared external force from an observed value of motional state amountsγdot, Accy of the vehicle 1 defining inertial force corresponding to the to-be-compared external force; and aμsensitivity calculating means (S122-4) for calculating a sensitivity p of the to-be-compared external force corresponding to a change of the frictional coefficientμ. An estimated valueμ_estm of a road surface frictional coefficient is updated on the basis of a deviation (Mnsp_sens-Mnsp_estm) and theμsensitivity p. COPYRIGHT: (C)2010,JPO&INPIT