| 摘要 |
PROBLEM TO BE SOLVED: To provide a physical value estimating device capable of estimating a physical value showing the easiness of slippage between a tire and a road surface when a slip ratio is almost zero, without requiring the maximum road surface friction coefficient, and a road surface friction condition estimating device capable of highly precisely estimating a road surface friction condition during braking or driving. SOLUTION: In accordance with a vehicle speed, a road surfaceμgradient is estimated by road surfaceμgradient estimating means 14, and the braking force of a vehicle is estimated by a high pass filter 16 and braking force estimating means 18. In accordance with a model showing a relationship between the road surfaceμgradient and the braking force of the vehicle, the estimated road surfaceμgradient and the braking force, the estimated road surfaceμgradient is corrected by road surfaceμgradient correcting means 20 to establish a road surfaceμgradient when the slip ratio is almost zero. In accordance with the vehicle speed, the vibration levels of wheels are estimated by a band pass filter 22 and vibration level operating means 24, and in accordance with the corrected road surfaceμgradient and the vibration levels, the road surface friction condition is estimated by road surface friction condition estimating means 26.
|
