ROAD SURFACE FRICTION COEFFICIENT ESTIMATING METHOD, SIGNAL MULTIPLEX TRANSMISSION METHOD AND SIGNAL MULTIPLEX TRANSMISSION DEVICE

A method for directly and accurately estimating friction coefficient of a road surface independently from the slip rate is disclosed. The method measures tangential and vertical forces acting on an elastic body 3 of an elastic wheel 1, and calculates the friction coefficient of a road surface based on the measured values of these forces and angular rate of the wheel 1.