| 摘要 |
PROBLEM TO BE SOLVED: To prevent an excessive control amount of an I-item of feedback control even if the inclination angle or the friction coefficient of a road surface is changed after starting control.SOLUTION: A vehicular down-hill speed control apparatus is used for controlling deceleration of a vehicle so that an actual vehicle speed reaches a target vehicular speed, on the basis of target deceleration Gxbt of PID feedback control based on a difference between the target vehicular speed and an actual vehicular speed Vx. In a case where the actual vehicular speed is higher than the target vehicular speed, a down-hill direction component of vehicular gravitational acceleration at a temporal point when a start condition for down-hill vehicular speed control is established is set as reference gravitational acceleration Gxd0, and if a difference between a down-hill direction component Gxd of the vehicular gravitational acceleration and the reference gravitational acceleration Gxd0 is not between upper and lower reference values, target deceleration Gxbti of an I-item is not integrated to suppress it from becoming excessive (S170, 180). |
