Patent ID: 7328097

Claim:
A vehicle behavior estimating device comprising: driving torque detecting means for detecting a driving torque outputted to a driving shaft from driving force providing means for providing a vehicle with a driving force; road-surface transmitting torque detecting means for detecting a road-surface transmitting torque transmitted to a road surface by driving wheels of the vehicle that are driven based on the driving torque transmitted from the driving shaft; driving-wheel rotation speed detecting means for detecting a rotation speed of the left driving wheel and a rotation speed of the right driving wheel, respectively; driving-wheel torque detecting means for detecting a left driving-wheel torque and a right driving-wheel torque, respectively; and vehicle body speed detecting means for detecting a vehicle body speed, wherein the road-surface transmitting torque detecting means estimates the road-surface transmitting torque based on a formula: Td _tire=( Tdr×Vwdr+Tdl×Vwdl )/ Vd, wherein Td_tire is the road-surface transmitting torque, Tdr is the torque of right driving wheel, Vwdr is the rotation speed of right driving wheel, Tdl is the torque of left driving wheel, Vwdl is the rotation speed of left driving wheel, and Vd is the vehicle body speed.