| 摘要 |
PROBLEM TO BE SOLVED: To make appropriate the intervention timing of vehicle motion control for assisting the driving operation of a driver in response to a variation of a wheel road surface state such as a road surface friction coefficient. SOLUTION: A wheel road surface state presumption means 23 for presuming a road surface friction coefficient, i.e., the wheel road surface state from self-aligning torque detected by a torque detection means 22 and a presumed motion state amount presumed by a vehicle motion state presumption means 13 based on a previously set tire model is provided. A parameter setting means 26 for changing the cornering power Kf, Kr of the tire, i.e., a parameter relating to a vehicle motion model of the vehicle motion state presumption means 13 according to the presumed road surface friction coefficient; and an intervention threshold value setting means 27 for changing the intervention threshold value of a control intervention determination means 16 according to the road surface friction coefficient are provided. Thereby, the road surface friction coefficient can be accurately presumed even if the vehicle motion state is stable. Further, since the parameter of the vehicle motion model is changed according to the road surface friction coefficient and the control intervention threshold of the vehicle motion is changed, proper control intervention timing can be accomplished. COPYRIGHT: (C)2007,JPO&INPIT |
