In a system for computing a road surface frictional coefficient for controlling a motion of a vehicle, the road surface frictional coefficient is estimated according to the deviation of the estimated vehicle body fore-and-aft/lateral acceleration from the actually detected vehicle body fore-and-aft/lateral...http://www.google.de/patents/US6662097?utm_source=gb-gplus-sharePatent US6662097 - System for computing a road surface frictional coefficient
