| 摘要 |
PROBLEM TO BE SOLVED: To accurately estimate the inclination of a road surface even in the case that a vehicle runs on a slope while the vehicle turns. SOLUTION: The slip angleβof a vehicle body is calculated (S20), the longitudinal acceleration Gx' of the vehicle body is calculated after correction in which the centripetal acceleration of the vehicle body caused by the slip angleβof the vehicle body eliminates influence given to the longitudinal acceleration Gx of the vehicle body (S30), the estimation longitudinal acceleration Vwd is calculated on the basis of a value which is a larger value of the wheel speeds Vwf and Vwfr of right and left wheels when the vehicle is not braked (S40, 50), when the vehicle is in a braked state, the estimation longitudinal acceleration Vwd of the vehicle body is calculated on the basis of a value which is the largest value of four-wheel wheel speeds Vwi (S40, 60), and the inclinationθof the road surface is calculated on a difference between the longitudinal acceleration Gx' of the vehicle body after correction and the estimation longitudinal acceleration Vwd of the vehicle body (S100).
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