| 摘要 |
A road friction coefficient estimating apparatus for a vehicle includes a high friction coefficient road reference value estimating section for calculating a high friction coefficient road reference yaw rate based on a vehicle motion model when the vehicle travels on a road surface with high friction coefficient, an actual value estimating section for calculating an actual yaw rate, a Lissajou figure processing section for forming a Lissajou's figure based on the high friction coefficient road reference yaw rate and the actual yaw rate and for calculating a gradient and area of this Lissajou's figure, a road friction coefficient estimating section for estimating a road friction coefficient based on the area of the Lissajou's figure when the gradient is in the neighborhood of 45 degrees and for estimating a road friction coefficient based on a lateral acceleration when the gradient is out of the neighborhood of 45 degrees.
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