| 摘要 |
PROBLEM TO BE SOLVED: To estimate a road surface friction coefficient in a vehicle equipped with a differential device with a differential limiting mechanism regardless of whether or not each of right and left drive wheels is slipping. SOLUTION: This road surface friction coefficient estimating device (electronic control device) of a vehicle equipped with the differential device 20 with a differential limiting mechanism includes a differential device input torque estimating means for estimating input torque to the differential device 20 with the differential limiting mechanism, a drive wheel input torque estimating means for estimating input torque to each of right and left drive wheels (rear wheels W<SB>RL</SB>, W<SB>RR</SB>) according to the input torque to the differential device 20 with the differential limiting mechanism and the angular velocity of each of the drive wheels on the same axle, a wheel driving force estimating means for estimating wheel driving force of the drive wheels based on the input torque to the drive wheels and inertial torque of the drive wheels, and a road surface friction coefficient estimating means for estimating the road surface friction coefficient of a road surface to which the drive wheels are grounded based on the wheel driving force of the drive wheels and the wheel grounding load of the drive wheels. COPYRIGHT: (C)2010,JPO&INPIT
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