| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for estimating a road surface friction coefficient for correctly grasping motion characteristics of a vehicle in a non-linear slip range by detecting or estimating the road surface friction coefficient either in a grip range or in a slip range. SOLUTION: In this method of estimating the road friction coefficient to estimate the friction coefficient of a road surface, cornering power of front and rear wheels is estimated to be extended to non-linear ranges based on parameters of at least a steering angle, car speed, and real yaw rate, and the motion equation of the vehicle. The estimated cornering power of the front and rear wheels and cornering power on a highμroad are compared with each other to determine the estimated value of the road surface friction coefficient for each of the front and the rear wheels. The larger one of the estimated values of the road surface friction coefficient is set as the representative value of the estimated value of the road surface friction coefficient.
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