The apparatus for estimating of the adhesion factor of a vehicle wheel and device for controlling the movement of the vehicle

摘要

PROBLEM TO BE SOLVED: To provide a device for estimating a gripping degree capable of estimating a gripping degree expressing a gripping degree in a lateral direction in respect to a wheel in a precise manner without being influenced by a brake force or a driving force.;SOLUTION: The device for estimating a gripping degree comprises a steering torque detecting means M1 and an assisting torque detecting means M2. A self-aligning torque estimating means M6 eliminates an amount of influence of forward or rearward force against the self-aligning torque on the basis of the forward or rearward force acting on the front wheel estimated by the forward or rearward force estimating means M15 and a front wheel slip angle estimated by a front wheel slip angle estimating means M9y when a self-aligning torque generated at the front wheel based on a detecting signal of the detecting means. The side force estimating means M9 estimates a side force acting on the front wheel on the basis of a lateral acceleration and a yawing rate. A gripping degree estimating means M12 estimates a gripping degree on the basis of a self-aligning torque in respect to the side force estimated by the side force estimating means M9.;COPYRIGHT: (C)2005,JPO&NCIPI