| 摘要 |
PROBLEM TO BE SOLVED: To precisely estimate the road frictional coefficient with excellent responsiveness with a simple processing according to traveling condition by setting the value of road frictional coefficient as an initial value forming the base of the estimation of road frictional coefficient according to the input from a specified input means of a vehicle. SOLUTION: The control program of a power distribution control device 90 is executed every prescribed time during the traveling of a vehicle to perform the operation and setting of a road surfaceμ. It is first judged whether the start of the vehicle is the start after long-term stopping or not in reference to the input signal from an initial start judgment part 37. The estimated value E of the road surface is calculated on the basis of a vehicle speed V, a steering angleδf, and a yaw rateγ. It is then judged whether a trigger signal, or a signal generated in one of the slipping state of the vehicle and the traveling state in a road having a low road frictional coefficient (a signal, by a wiper switch 33, a low outside air temperature judgment part 35, a traction control part 50 or the like). When even one trigger signal is inputted, the estimated value E of the road surfaceμis set.
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