| 摘要 |
PURPOSE:To prevent a tire slip and its lock from occurring, by predicting a friction factor ahead a road accurately and, when the control carried out according to this predicted result was wrong, calculating the friction factor at the time of being actually traveled whereby correcting the predicted result. CONSTITUTION:A road surface state is judged on the basis of intensity of three primary colors in light at a surface friction factor judging part 3 according to an image signal out of a video camera 1, while the friction factor stored in a memory part 4 is judged from the judged result and a signal to be inputted from a road temperature sensor 2. Next, whether an actuator 6 is driven or not is judged at a drive judging part 5 by this predicted friction factor, making it perform selection or the like of two-wheel/four-wheel drive. In spite of this control, a tire slip and its lock are judged at a judging part 10, and when prediction of the friction factor was wrong, a surface friction factor is operated at an operational part 11 from each output out of a torque sensor 8 and an acceleration sensor 9, making it rewrite the wrongly predicted friction factor.
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