Wheel grip factor estimating apparatus and vehicle motion control apparatus

摘要

A grip factor estimating apparatus includes a steering torque detecting unit M 1 , and an assist torque detecting unit M 2 . When a self-aligning torque estimating unit M 6 estimates self-aligning torque generated in front wheels on the basis of detection result of the detecting unit, the quantity of influence of longitudinal force on self-aligning torque is removed on the basis of longitudinal force acting on the front wheels and estimated by a longitudinal force estimating unit M 15 and a front wheel slip angle estimated by a front wheel slip angle estimating unit M 9 y. A grip factor estimating unit M 12 estimates the grip factor of the front wheels on the basis of change in self-aligning torque in accordance with the side force.