| 摘要 |
PURPOSE:To discriminate undulations in a friction factor on a road surface, by comparing the vehicle acceleration detected under the specified condition with another vehicle acceleration which serves as the criterion conformed to the friction factor on the road surface prepared in advance. CONSTITUTION:When a fact that a difference between driving wheel speed VD and car speed VO is more than the specified value (a) (a difference between the driving wheel speed and the car speed at a time when a vehicle comes to more than the specified acceleration producing a slip between a road surface and driving wheels) is detected at an accelerating state detecting element 40, this detection signal is inputted into a ground acceleration detecting element 41. Here ground acceleration of the vehicle is detected, and the value is inputted into a discriminator 43, and hereupon it is compared with the value alpha of reference ground acceleration being stored in a memory part 42. In this memory part 42, the reference ground acceleration secured by an experiment or the like is stored according to the value of a friction factor mu of at least one road surface. Accordingly, undulations of the friction factor mu on the road surface can be discriminated from the value of ground acceleration of the vehicle. This discriminating signal is inputted into a controller 25 for 4WD steering. |
