| 摘要 |
PROBLEM TO BE SOLVED: To provide an estimation method of a road surfaceμcapable of easily calculating the road surfaceμand securing the practical accuracy. SOLUTION: The estimation method of the road surface friction coefficient estimating the road surface coefficientμis composed of the step detecting the steering angle by a steering angle sensor, the step detecting the lateral acceleration by a lateral acceleration sensor, the step calculating an approximateμ, and the step fine-adjusting the road surfaceμso that the difference between the estimated lateral acceleration and the lateral G detected by the lateral acceleration sensor becomes zero based on the approximateμ. The step calculating the approximateμbased on the road surfaceμcorresponding to the region in a plurality of road surfaceμi (i=1 to n) refers to the road surfaceμdetermination table wherein the region composed of the steering angle and the lateral acceleration are defined for respective road surfaceμi (i=1 to n) and finds the region corresponding to the steering angle detected by the steering angle sensor and the lateral acceleration detected by the lateral acceleration sensor based on the boundary line derived from the lower limit of the lateral acceleration about respective steering angles in the combination of the steering angle and the lateral acceleration in respective road surfaceμi about a plurality of road surfaceμi (i=1 to n, wherein n is an integer of 2 or more). COPYRIGHT: (C)2006,JPO&NCIPI |
