Patent ID: 9073566
Filing Date: 2015-07-07
Classification: B60T,B60W,B62D

Abstract:
1. A road surface friction coefficient estimating device which estimates a friction coefficient of a road surface, on which a vehicle is traveling, while updating the friction coefficient, the device comprising: a first estimating element of a to-be-compared external force which a second estimating element of the to-be-compared external force which a first friction coefficient increasing/decreasing manipulated variable determining element and a second friction coefficient increasing/decreasing manipulated variable determining element, each of which determines an increasing/decreasing manipulated variable of an estimated value of the friction coefficient of the road surface on the basis of at least the first estimated value and the second estimated value; and a friction coefficient estimated value updating element which determines a new estimated value of the friction coefficient by updating the estimated value of the friction coefficient of the road surface on the basis of at least any one of the increasing/decreasing manipulated variables, which have been determined by the first friction coefficient increasing/decreasing manipulated variable determining element and the second friction coefficient increasing/decreasing manipulated variable determining element, respectively, wherein: the first friction coefficient increasing/decreasing manipulated variable determining element comprises a (1 the second friction coefficient increasing/decreasing manipulated variable determining element determines the increasing/decreasing manipulated variable on the basis of at least a deviation between the first estimated value and the second estimated value such that the deviation therebetween is converged to zero; and the first friction coefficient increasing/decreasing manipulated variable determining element determines the increasing/decreasing manipulated variable on the basis of at least a deviation between a (1