| 摘要 |
PURPOSE:To enable accurate measurement of a friction coefficient of a road surface in steering, by detecting a steering wheel angle, a vehicle speed and an operating pressure of a power steering device by using sensors respectively when a steering wheel is steered. CONSTITUTION:In order to output its operation control signals to a rear-wheel control valve 10 and a front-wheel steering valve 5, a controller 15 is connected electrically to various sensors. Among these sensors, there are a vehicle speed sensor 26 detecting a vehicle speed V, a wheel angle sensor 16 detecting a wheel angle thetaH of a steering wheel 4, a rear-wheel steering angle sensor 17 detecting a rear-wheel steering angle thetaR and pressure sensors 18 and 19 detecting an operating pressure (power steering pressure) DELTAP of a power steering device 2, and sensor signals from them are supplied to the controller 15. In a road surface mu computing element of the controller 15, a road surface mu is calculated from the power steering pressure DELTAP, the wheel angle thetaH and the vehicle speed V according to a prescribed formula. |
