| 摘要 |
PURPOSE:To detect a coefficient of road surface friction even at the time of linear driving, regardless of steering or non-steering mode by using the reaction, from a wheel as a parameter for the detection of a coefficient of road surface friction, at a time when the wheel is turned and steered periodically at a frequency which does not affect the behavior of a vehicle. CONSTITUTION:The stroke of a power cylinder 20 for turning and steering rear wheels 11L, 11R, is controlled by a control valve 13 for HICAS provided in a HICAS control unit (controller) 21 as well as in a steering gear, according to the velocity and the front wheel steering reaction, detected by a velocity sensor 23, and the turning steering angle is thus adjusted in an optimal way. A reaction sensor 30 is provided on a link part of the output shaft of the power cylinder 20, and the signal related to the detected reaction is input to the controller 21. When the coefficient of road surface friction is detected at the time of driving of a vehicle, the wheel is turned and steered periodically at no less than the frequency, with which the value of the yaw rate/fixed steering angle becomes almost zero, and, for which the value of the power of tyre/fixed steering angle is not less than zero. The reaction from the wheel is detected, and the coefficient of road surface friction is detected based on the information related to the reaction.
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