To provide a road surface friction coefficient estimation device and the like which can estimate a friction coefficient of a road surface adequately even at normal travel time when time response lag is small and tire generation force is small.SOLUTION: A road surface friction coefficient estimation device is configured so as to comprise a wheel acting force sensor 200 which detects acting force to wheels, a moment calculation part which calculates a moment MtZ around a vertical axis in a grounding load center of a tire on the basis of output of the wheel acting force sensor, and a friction coefficient estimation part 300 which estimates a friction coefficient of the road surface where the tire is grounded on the basis of the moment.SELECTED DRAWING: Figure 8
【課題】時間応答遅れが小さくかつタイヤ発生力が小さい通常走行時であっても適切に路面の摩擦係数を推定できる路面摩擦係数推定装置等を提供する。【解決手段】路面摩擦係数推定装置を、車輪への作用力を検出する車輪作用力センサ200と、車輪作用力センサの出力に基づいてタイヤの接地荷重中心における鉛直軸回りのモーメントMtZを算出するモーメント算出部と、モーメントに基づいてタイヤが接地する路面の摩擦係数を推定する摩擦係数推定部300とを備える構成とする。【選択図】図8
ROAD SURFACE FRICTION COEFFICIENT ESTIMATION DEVICE AND STEERING DEVICE
路面摩擦係数推定装置、及び、操舵装置
2021-10-14
Patent
Electronic Resource
Japanese
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