| 摘要 |
PROBLEM TO BE SOLVED: To suitably set a road surface friction coefficient even if it is difficult to estimate the road surface friction coefficient, and to maximize the potential of vehicle behavior control. SOLUTION: In the road surface friction coefficient estimating device 1, a rack thrust deviationΔFR is compared with the maximum value determining thresholdμmaxa. If the rack thrust deviationΔFR is not less than the maximum value determining thresholdμmaxa, it is judged that a tire slips, and a front wheel friction circle use rate rf at that time is set as a road surface friction coefficientμ. If the rack thrust deviationΔFR is smaller than the maximum value determining thresholdμmaxa, returning speed Vμreturning the road surface friction coefficientμto 1.0 is decided by referring to a map set in advance, according to vehicle speed V and a front wheel skid angleβf. The road surface friction coefficientμis computed and outputted while returning the road surface friction coefficient at the return speed Vμ. COPYRIGHT: (C)2009,JPO&INPIT |
