PURPOSE: To accurately detect a road surface friction coefficient corresponding to the traveling state of a vehicle by adding a time delay element for compensating the time delay of the cornering power of a front and a rear wheel behind the steering wheel operation.
CONSTITUTION: A motion state detecting means 51 detects motion states of the vehicle such as the lateral acceleration ay of the gravity center of the vehicle and a steering state detecting means 37 detects steering states such as front and rear steering angles θF and θR, etc. Further, a vehicle speed detecting means 53 detects the traveling speed V of the vehicle and a storage means 31 is stored with the weight (m) of the vehicle, the distances (a) and (b) between the gravity center of the vehicle and front and rear axles, cornering power KF and KR of the front and rear wheels, and a stability factor such as the yaw inertial moment I of the vehicle. Then an arithmetic means corrects the delay of the KF and KR by a correcting element 40 to calculate a dynamic friction coefficient from an equation.
WATANABE KENICHI
KAMIMURA SHOICHI
Next Patent: METHOD AND DEVICE FOR MEASURING ROTATION IN AUTOMOBILE PNEUMATIC TIRE WITH BEAD-HOUSING RING RUNNABL...