| 摘要 |
PROBLEM TO BE SOLVED: To perform an estimation of road surfaceμby a single surfaceμestimating means while simultaneously satisfying quick responsiveness, preciseness and stability to efficiently estimate the surfaceμaccording to a surface state at a low cost without complication or enlargement. SOLUTION: A highμroad reference value estimation part 11 calculates the yaw rate of a highμroad reference with a highμroad vehicle movement model, and a lowμroad reference value estimation part 12 calculates the yaw rate of a lowμroad reference with a lowμroad vehicle movement model. An actual value estimation part 13 calculates the actual yaw rate by the observer of vehicle movement model, and a yaw rate comparative road surfaceμestimation part 14 compares each yaw rate to estimate a new road surfaceμ. A final road surfaceμestimation part 15 finally calculates the road surfaceμof this time finally from the road surfaceμfinally estimated in the past and the new road surfaceμby weighting averaging. A weight function setting part 16 varies the weighting (weight function) of the data for the road surfaceμestimated finally in the past and the new road surfaceμaccording to the surface irregular state.
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