| 摘要 |
PROBLEM TO BE SOLVED: To correctly estimate vehicle state quantity regardless of braking or non-braking and load distribution. SOLUTION: A vehicle state quantity estimating device is provided with a wheel speed detecting part 65 for detecting wheel speed, a micro gain, computing part 36 for computing a micro gain, a braking force detecting part 34 for detecting braking force, a road surfaceμgradient computing part 90 for computing a road surfaceμgradient which is a gradient of brake driving force to slip speed, from the micro gain, and a road surface state computing device 10 for computing a road surface state and slip speed on the basis of the wheel speed, road surfaceμgradient and brake driving force. The vehicle state quantity estimating device is further provided with a wheel load detecting part 91 storing the relation between the slip speed and road surfaceμgradient in a reference characteristic every road surface state, obtaining a road surfaceμgradient corresponding to the computed road surface state and slip speed on the basis of this relation and detecting wheel load on the basis of comparison between the obtained road surfaceμgradient and the road surfaceμgradient computed by the road surfaceμgradient computing part, and a vehicle state quantity computing part 92 for computing vehicle state quantity from wheel load and the like. The vehicle state quantity can be correctly estimated because of obtaining wheel load and the like based on the detected road surfaceμgradient.
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