| 摘要 |
PROBLEM TO BE SOLVED: To ensure reliability and precision stableness of coefficient of friction on a roadμby stopping surely estimation of the coefficientμ, when the coefficientμcan not be estimated with high precision due to particularly large influence of cant running. SOLUTION: A highμroad reference value estimating unit 11 calculates a yaw rate and a transverse acceleration of a highμroad reference with a highμroad vehicle kinetic model, a lowμroad reference value estimating unit 12 calculates a yaw rate and a transverse acceleration of a lowμroad reference with a lowμroad vehicle kinetic model, and an actual value estimating unit 13 calculates an actual yaw rate and an actual acceleration by an observer. A yaw rate comparison coefficientμestimating unit 14 compares the actual yaw rate with the highμroad reference yaw rate and the lowμroad reference yaw rate to estimate a coefficientμ. A first execution determining unit 15a stops estimation of the coefficientμ, when a transverse acceleration sensor value is not between the highμroad reference transverse acceleration and the lowμroad reference transverse acceleration. A second execution determining unit 15b forms Lisajous' figure with the transverse acceleration sensor value and the actual transverse acceleration, and stops estimation of the coefficientμ, when the area of the figure is small and an inclination is in a set area.
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