DEVICE FOR ESTIMATING ROAD SURFACE FRICTION COEFFICIENT ESTIMATING DEVICE, AND OPERATION CONTROLLING DEVICE OF VEHICLE WITH THE DEVICE

摘要

PROBLEM TO BE SOLVED: To properly control an operation of a vehicle by precisely estimating a road surface friction coefficient at an early stage prior to a friction force limit, and accordingly adjusting a control parameter. SOLUTION: In a grip degree estimating means M12, a grip degreeεdesignating a degree of a grip in a lateral direction relative to a front wheel is estimated on the basis of a self-aligning torque estimated by a self-aligning torque estimation means M6, and a front wheel side force estimated by a side force estimation means M9. In a road surface friction coefficient estimating means M13, a road surface friction coefficientμis estimated from a value of the self-aligning torque or the front wheel side force when the grip degreeεreaches a predetermined reference grip degree. In the operation controlling device of the vehicle, a control parameter (for example, a control start sensitivity) is adjusted according to the estimated road surface friction coefficient, so as to control a braking force in a manner to correct the yaw moment of the vehicle to a stable side. COPYRIGHT: (C)2004,JPO