| 摘要 |
PROBLEM TO BE SOLVED: To provide a road surface friction coefficient estimating device capable of precisely estimating a road surface friction coefficient itself. SOLUTION: A device includes a wheel speed detecting means 1, a body speed detecting means 2, a control driving toque detecting means for detecting control driving torque u of a wheel, a slip rate computing means 4 for computing the slip rateλof a wheel from a wheel speed (Xw and a body speed Xv , a pseud (μ-s function generating means 5 for generating pseudμ-s functionμqu from the slip rateλ, a wheel speed estimated error computing means 6 for computing a wheel speed estimated error e by subtracting a wheel speed estimated value Xwpr computed from the wheel speed Xw , control driving force u and a road surface friction coefficient estimated valueμpr from the wheel speed Xw , a calibrated parameter computing means 7 for computing a calibrated parameterθpr from the wheel speed estimated error e and the psuedμ-s functionμqu and a calibrating means 8 for calibrating the pseudμ-s functionμqu with a calibrating parameterθpr and outputting a calibrated value as a road surface friction coefficient estimated valueμpr .
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