| 摘要 |
PROBLEM TO BE SOLVED: To provide a road gradient estimation device and a method of estimating road gradient that can prevent an erroneous estimation of an estimation value of a road gradient, when a driver operates a steering device.SOLUTION: The road gradient estimation device includes: radius calculation means 37 for calculating a turning radius R on the basis of a right wheel speed Va and a left wheel speed Vb; component calculation means 38 for calculating a centrifugal acceleration component Ac applied to a vehicle 10 on the basis of the turning radius R; and determination means 39 for determining whether or not the centrifugal acceleration component Ac is equal to or more than a predetermined determination value A. If the centrifugal acceleration component Ac is determined as less than the determination value A by the determination means 39, an estimation value θz of a road gradient is set to an estimation gradient θx or a correction gradient θy, and if the centrifugal acceleration component Ac is determined to be equal to or more than the determination value A, an estimation by gradient estimation means 35 or correction means 36 is prohibited, and the estimation value θz is configured to be set to a predetermined set value θ0.SELECTED DRAWING: Figure 8 |
