Rankin, Hill & Clark LLP
Road surface frictional coefficient estimating apparatus
A road surface frictional coefficient estimating apparatus includes a device which determines a first estimated value of a to-be-compared external force acting on a vehicle due to the resultant force of road surface reaction forces using a determined frictional coefficient estimated value and the like, and a device which determines a second estimated value of the to-be-compared external force from the observed value of motional state amounts of the vehicle that define an inertial force corresponding to the to-be-compared external force. The estimated value of a road surface frictional coefficient is updated based on the difference between the first estimated value and the second estimated value. When the first estimated value and the second estimated value have opposite polarities, the updating of the estimated value of the road surface frictional coefficient based on the difference is not carried out.
HONDA MOTOR CO., LTD.
B B B B
B60T B60W B60T B60T
additional inventional additional inventional
Toru Hiroyuki Yoshihiro
Takenaka Urabe Mori