Rankin, Hill & Clark LLP
Road surface frictional coefficient estimating apparatus
A road surface frictional coefficient estimating apparatus has a device for determining a first estimated value of a yaw moment Mnsp_estm generated at an NSP of a vehicle due to the resultant force of road surface reaction forces acting on each wheel by using, for example, a frictional coefficient estimated value that has been determined, and a device for determining a second estimated value of a yaw moment Mnsp_sens generated at the NSP from the observed value of motional state amounts defining an inertial force moment at the NSP. The increasing/decreasing manipulated variable of the frictional coefficient estimated value is sequentially determined on an error (Mnsp_sens−Mnsp_estm) such that the error is converged to zero, and the road surface frictional coefficient is updated on the basis of the increasing/decreasing manipulated variable.
Honda Motor Co., Ltd.
B B Y B B B
B60T B62D Y10T B60T B60T B60W
additional inventional additional additional inventional inventional
Yoshihiro Tomoya Osamu Hiroyuki Toru
Mori Ushimura Yano Urabe Takenaka