| 摘要 |
PROBLEM TO BE SOLVED: To early presume variation of friction coefficient of a road surface at high accuracy based on variation of self-aligning torque or side force. SOLUTION: The variation determination method for the friction coefficient of the road surface is provided with a step for determining that the friction coefficientμof the road surface is increase-varied (S130) or reduction-varied (S180) by operating the self-aligning torque SAT of a front wheel and the side force SF (S20); operating a variation amount of the self-aligning torqueΔSAT per unit time (S50); operating a reference value SATc based on a presumed variation amount of the self-aligning torqueΔSAT (S60, 70); and determining whether or not the state that an absolute value of the variation amount of the self-aligning torqueΔSAT is larger than the reference value SATc continuously continues over 3 cycles in responsive to the symbol of the product of the present self-aligning torque SAT (n) and the variation amount of the self-aligning torqueΔSAT (S80) (S90-120, S140-170). COPYRIGHT: (C)2005,JPO&NCIPI
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