A brake fluid pressure control device for a vehicle that can perform fluid pressure control on the brake fluid pressure applied to wheel brakes. It is determined whether the pressure increasing time in the current pressure increasing control exceeds determination time which is set on the basis of the pressure increasing time in past pressure increasing control. If the pressure increasing time in the current pressure increasing control exceeds the determination time, it is determined that the road surface on which the vehicle is travelling has changed from the road surface with a low coefficient of friction to the road surface with a high coefficient of friction.

A method is described for computing a friction estimate between a road surface and a tire of a vehicle when the vehicle is in motion along a course, the tire being arranged on a steerable wheel of the vehicle, and the vehicle including two front wheels and two rear wheels and an axle rack pivotably attached to a linkage arm connected to the steerable wheel such that a translational motion of the axle rack causes the linkage arm to rotate about a kingpin element such that the linkage arm causes a turning motion of the steerable wheel. A corresponding system and vehicle are also described.

A method is described for computing a friction estimate between a road surface and a tire of a vehicle when the vehicle is in motion along a course, the tire being arranged on a steerable wheel of the vehicle, and the vehicle including two front wheels and two rear wheels and an axle rack pivotably attached to a linkage arm connected to the steerable wheel such that a translational motion of the axle rack causes the linkage arm to rotate about a kingpin element such that the linkage arm causes a turning motion of the steerable wheel. A corresponding system and vehicle are also described.

A control apparatus for a vehicle includes an addition portion that outputs a post-compensation driver request torque, which is acquired by adding a driving torque (a loss compensation driving torque) lost due to a braking torque provided to a wheel on a low- road surface side according to a BLSD request hydraulic pressure calculated by a BLSD request hydraulic pressure calculation processing portion to a driver request torque calculated by a driver request torque calculation processing portion, to a motor.

A vehicle control ECU determines a road surface state of a forward road of a vehicle based on a front image. The vehicle control ECU changes, in accordance with a determined result, a split determination threshold value which is used to determine whether to perform a vehicle behavior stabilization control for stabilizing a behavior of the vehicle.

A vehicle control ECU determines a road surface state of a forward road of a vehicle based on a front image. The vehicle control ECU changes, in accordance with a determined result, a split determination threshold value which is used to determine whether to perform a vehicle behavior stabilization control for stabilizing a behavior of the vehicle.

An integrated control system for a vehicle is provided. The system includes a friction coefficient calculation unit that calculates friction coefficients of left side and right side road surfaces, respectively, based on vehicle wheel state information and a predetermined setting information collected during ABS operation. A feedforward braking pressure calculation unit calculates a feedforward braking pressure of each vehicle wheel using the friction coefficients. An ABS braking pressure calculation unit calculates an ABS braking pressure of the each vehicle wheel based on the feedforward braking pressure and slip rate information. A rear wheel steering control amount calculation unit calculates a rear wheel steering control amount for yaw compensation using the ABS braking pressure of each vehicle wheel and a rear wheel steering controller executes a rear wheel steering control according to the rear wheel steering control amount.

A riving assistance apparatus includes a sound wave control unit acquiring information of a reflected wave from a distance measuring unit, the distance measuring unit transmitting a sound wave towards a travelling direction of a vehicle and receiving the reflected wave of the sound wave reflected from an object, an information acquisition unit acquiring temperature information in surroundings of the vehicle, and a determination unit determining that a road surface in the travelling direction of the vehicle is a frozen road surface by determining that the distance measuring unit receives the reflected wave including a signal strength equal to or greater than a predetermined value from a predetermined distance or more, based on the information of the reflected wave in a state where a temperature based on the temperature information is smaller than a predetermined temperature.

A riving assistance apparatus includes a sound wave control unit acquiring information of a reflected wave from a distance measuring unit, the distance measuring unit transmitting a sound wave towards a travelling direction of a vehicle and receiving the reflected wave of the sound wave reflected from an object, an information acquisition unit acquiring temperature information in surroundings of the vehicle, and a determination unit determining that a road surface in the travelling direction of the vehicle is a frozen road surface by determining that the distance measuring unit receives the reflected wave including a signal strength equal to or greater than a predetermined value from a predetermined distance or more, based on the information of the reflected wave in a state where a temperature based on the temperature information is smaller than a predetermined temperature.

An apparatus and a method for controlling a behavior of a vehicle that travels on a road. The behavior control apparatus for a vehicle and the method provide that the driver may safely return the vehicle to a paved road surface while compensating for the behavior of the vehicle based on an external force generated by deviation of one-side wheels of the vehicle from the paved road surface.