An apparatus for determining a road friction coefficient and vehicle with an apparatus for determining a road friction coefficient

摘要

A unit for calculating a slip angle calculates a vehicle body - slip angle, of a steering wheel angle and a vehicle speed is associated, based on a vehicle wheel angle and the speed by means of a at a predetermined vehicle motion model based observer according to a motion equation of a vehicle. A unit for calculating a front wheel - slip angle calculates a front wheel - slip angle, based on the steering wheel angle, a vehicle speed, a yaw rate and the calculated vehicle body - slip angle. A unit for calculating a itself alignment torque is calculated which itself alignment torque, based on a hydraulic chamber pressure of the left side and a hydraulic chamber pressure of the right-hand side of a servo cylinder. The vehicle speed, an estimated front wheel - slip angle and the even alignment torque are of a unit for the setting of a road friction coefficient, and the unit for the setting of a road friction coefficient sets a road friction coefficient with reference to a characteristic diagram, based on the supplied values, in order to output the set value. In this way, a road friction coefficient determined in a wide range, while sensor noise is reduced.