Control apparatus for vehicle and control method for vehicle

A control method for a vehicle, the control method comprising:

• calculating a first road surface friction coefficient that is a friction coefficient of a road surface in a contact with a wheel;
• calculating a second road surface friction coefficient on a basis of a detection value from a contactless sensor capable of contactlessly detecting a road surface state;
• and
• controlling a braking and driving force of the vehicle on a basis of the first road surface friction coefficient at a normal time, and controlling the braking and driving force of the vehicle on a basis of the second road surface friction coefficient in a case where it is determined on the basis of the second road surface friction coefficient that a low friction road surface having a low friction coefficient is present in front of the vehicle,
• calculating the second road surface friction coefficient in each predetermined control cycle, including:
• calculating a previous second road surface friction coefficient from a previous control cycle;
• and
• calculating a current second road surface friction coefficient from a current control cycle, wherein the previous control cycle immediately precedes the current control cycle;
• comparing the previous second road surface friction coefficient with the current second road surface friction coefficient;
• and
• determining that the low friction road surface is present in front of the vehicle when the current second road surface friction coefficient is less than the previous second road surface friction coefficient.

A control apparatus for a vehicle, the control apparatus comprising:

• circuitry configured to
• calculate a first road surface friction coefficient that is a friction coefficient of a road surface in a contact with a wheel,
• calculate a second road surface friction coefficient on a basis of a detection value from a contactless sensor capable of contactlessly detecting a road surface state, and
• control a braking and driving force of the vehicle on a basis of the first road surface friction coefficient at a normal time, and control the braking and driving force of the vehicle on a basis of the second road surface friction coefficient in a case where it is determined on the basis of the second road surface friction coefficient that a low friction road surface having a low friction coefficient is present in front of the vehicle,
• calculate the second road surface friction coefficient in each predetermined control cycle, including:
• calculating a previous second road surface friction coefficient from a previous control cycle;
• and
• calculating a current second road surface friction coefficient from a current control cycle, wherein the previous control cycle immediately precedes the current control cycle;
• compare the previous second road surface friction coefficient with the current second road surface friction coefficient;
• and
• determine that the low friction road surface is present in front of the vehicle when the current second road surface friction coefficient is less than the previous second road surface friction coefficient.