| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle control device capable of calibrating the acceleration sensor of a vehicle traveling a sloping travel road and of estimating the gradient of the travel road at high accuracy, and to provide a sensor calibration method.SOLUTION: A vehicle control device 150 has an acceleration sensor 5 detecting acceleration, a power meter 200a measuring the drive power output by an electric motor 200, and the wheel rotation speed sensors 35a, 35b, 35c, 35d detecting a vehicle body speed. A sensor calibration method includes calibrating the acceleration sensor 5 by the vehicle control device 150. It is determined that a vehicle is in a stationary state when the acceleration calculated by time differential of the vehicle speed is a prescribed acceleration threshold or less and when the variation of the drive power is a prescribed stationary variation or less. At that time, an offset error included in a sensor detection acceleration Gs being a detection value of the acceleration sensor 5 is corrected.SELECTED DRAWING: Figure 3 |
