| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To provide a device for computing a road slope angle that is capable of accurately computing the road slope angle without being affected by vibration from a road surface or the like and requires a small number of parts and a low cost, and a vehicle with this computing device. <P>SOLUTION: A golf cart 10 includes the device 20 for computing the slope angle of the road surface R. The device 20 is constructed of: a driving motor 23 that rotationally drives rear wheels RL, RR; a braking motor 22a that brakes front wheels FL, FR and the rear wheels RL, RR; and a controller 30 that computes the slope angle of the road surface R based on rotary torque and running acceleration a. The rotary torque is determined from a current I2 passed through the driving motor 23 and a braking current passed through the braking motor 22a, and the running acceleration a is determined from a detection value from a vehicle speed sensor 28. The computed value of rotary torque is filtered through a low-pass filter, and the filtered value of rotary torque is used to compute the slope angle of the road surface R. <P>COPYRIGHT: (C)2007,JPO&INPIT</p> |
