| 摘要 |
PROBLEM TO BE SOLVED: To provide a road surface friction coefficient estimation device for easily estimating the friction coefficient of a vehicle-driving road surface with improved accuracy before the vehicle behavior reaches a limit. SOLUTION: The steering angle of at least one tire WL is detected by a steering angle detection means SA and at the same time a steering torque for the tire WL is detected by a steering torque detection means ST. Based on the detection output, the characteristics of the steering torque for the steering angle are calculated by a characteristic operation means CH based on the detection output. Based on the operation result, the friction coefficient of the road surface where the tire WL touches the ground is estimated. Further, the steering torque is corrected by a correction means AD, the pneumatic trail constituent of the steering torque is extracted, and the characteristics of the pneumatic trail constituent of the steering torque for the steering angle are calculated, thus improving accuracy.
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