| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle control device which can prevent slip-down on a traveling road having an uphill gradient when a shift device is switched to a state that a progressing vehicle is made to reversely travel.SOLUTION: Related to a vehicle having an electric motor, a shift device, a wheel cylinder and gradient estimation means, there is provided a vehicle control device which controls the electric motor so that an actual drive force Preal is changed with a primary delay with respect to a requirement drive force Preq. Then, when a charging rate of a battery is higher than a threshold, the shift device is operated in a state that a vehicle travels, and when a traveling range for changing a traveling direction of the vehicle to a reverse direction is selected, the actual drive force Preal is reduced so as to approximate zero, a friction brake force BPf is generated, and the vehicle is decelerated. When the vehicle is decelerated up to a vehicle-stop determination speed Vc0, the actual drive force Preal is increased up to the requirement drive force Preq, and the friction brake force BPf is gradually reduced according to a road face gradient.SELECTED DRAWING: Figure 6 |
