Road-surface friction coefficient estimating device and road-surface friction coefficient estimating method

摘要

A road surface mu is updated with time on the basis of a present value (an estimation value E) of the road surface mu estimated to estimate the road surface mu . In this case, if there is acquired road-surface information in a vehicle travel direction that is detected by a road-side infrastructure, a specifying unit (11) specifies a road-surface friction coefficient based on the road-surface information. An estimating unit (12) sets the road surface mu ( mu inf) thus specified as an initial value, resets the present value of the road surface mu to the initial value, and then starts estimation of the road-surface friction coefficient based on this initial value using a dynamic equation of the vehicle. Accordingly, estimation precision of a road-surface friction coefficient is enhanced by using an initial value having high reliability in autonomous estimation of the road-surface friction coefficient. IMAGE