| 摘要 |
PROBLEM TO BE SOLVED: To estimatingly compute road surface friction coefficient in the wide range of steering angle accurately and effectively by computing it utilizing acceleration in the longitudinal direction when the steering angle is smaller than a fixed value, and computing it utilizing acceleration in the lateral direction when the steering angle is larger than the fixed value. SOLUTION: This road surface friction coefficient estimation device 1 is provided with a means for measuring acceleration in the longitudinal direction of a vehicle, acceleration in the lateral direction, vehicle speed, and the yaw rate of the vehicle as electric signals. Further it is provided with a means for estimatingly computing the road surface friction coefficient utilizing output of the measuring means and a means for taking in the steering angle of the vehicle as an electric signal. The means for estimatingly computing the road surface friction coefficient adopts a computing means utilizing acceleration in the longitudinal direction when the steering angle is smaller than a fixed value, and a computing means utilizing acceleration in the lateral direction when it is larger than the fixed value. The road surface friction coefficient can be estimatingly computed in the wide range of the steering angle accurately and effectively, particularly the estimation accuracy in the range of small steering angle generating no acceleration in the lateral direction of the vehicle is improved. |
