Control apparatus for vehicle

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

• a travel environment information acquirer configured to acquire travel environment information regarding a travel environment in front of the vehicle;
• a reporter configured to report a possibility of slip occurrence;
• and
• a controller, wherein
• the controller comprises
• a slip vibration detector configured to detect a slip vibration of a drive wheel of the vehicle,
• an estimated road surface friction coefficient calculator configured to calculate an estimated road surface friction coefficient, based on the slip vibration detected by the slip vibration detector,
• a corrected road surface friction coefficient calculator configured to calculate a corrected road surface friction coefficient by correcting the estimated road surface friction coefficient calculated by the estimated road surface friction coefficient calculator with a correction coefficient set in accordance with a road shape recognized based on the travel environment information acquired by the travel environment information acquirer,
• a comparator configured to compare the corrected road surface friction coefficient set by the corrected road surface friction coefficient calculator with a slip reporting threshold, and
• an output unit configured to output a reporting command signal to the reporter when the comparator determines that the estimated road surface friction coefficient is less than or equal to the slip reporting threshold.

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

• one or more processors;
• one or more memories communicably coupled to the one or more processors, the one or more memories storing instructions configured to cause the one or more processors to carry out processing;
• and a reporter comprising a pressure actuator, the reporter being configured to report a possibility of slip occurrence of the vehicle, wherein
• the processing includes
• acquiring travel environment information regarding a travel environment in front of the vehicle,
• detecting a slip vibration of a drive wheel of the vehicle,
• calculating an estimated road surface friction coefficient, based on the slip vibration,
• comparing the estimated road surface friction coefficient with a slip reporting threshold,
• outputting a reporting command signal to the reporter when determining that the estimated road surface friction coefficient is less than or equal to the slip reporting threshold, and
• variably setting the slip reporting threshold in accordance with a road shape recognized based on the travel environment information.