{
  "$type": "site.standard.document",
  "description": "A road friction coefficient estimating apparatus (1) for a vehicle includes a high friction coefficient road reference value estimating section (11) for calculating a high friction coefficient road reference yaw rate based on a vehicle motion model when the vehicle travels on a road surface with…",
  "path": "/patents/1104867",
  "publishedAt": "2002-05-02T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60T8/172",
    "FUJI HEAVY IND LTD [JP]"
  ],
  "textContent": "A road friction coefficient estimating apparatus (1) for a vehicle includes a high friction coefficient road reference value estimating section (11) for calculating a high friction coefficient road reference yaw rate based on a vehicle motion model when the vehicle travels on a road surface with high friction coefficient, an actual value estimating section (12) for calculating an actual yaw rate, a Lissajou figure processing section (13) for forming a Lissajou's figure based on the high friction coefficient road reference yaw rate and the actual yaw rate and for calculating a gradient and area of this Lissajou's figure, a road friction coefficient estimating section (14) for estimating a road friction coefficient based on the area of the Lissajou's figure when the gradient is in the neighborhood of 45 degrees and for estimating a road friction coefficient based on a lateral acceleration when the gradient is out of the neighborhood of 45 degrees.",
  "title": "Road friction coefficient estimating apparatus for vehicle"
}