| 摘要 |
A road friction coefficient estimating apparatus (1) for a vehicle includes a high friction coefficient road reference value estimating section (11) 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 (12) for calculating an actual yaw rate, a Lissajou figure processing section (13) 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 (14) 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. <IMAGE> |
