| 摘要 |
The gradient of a road surface is estimated with a change in the attitude of a vehicle also taken into consideration. As a result, the gradient of the road surface can be estimated with high accuracy, and this enables the vehicle to stably stop and travel independently of the gradient of the road surface. The vehicle has a drive wheel rotatably mounted on a vehicle body and also has a vehicle control device for controlling the attitude of the vehicle by controlling drive torque applied to the drive wheel. The vehicle control device estimates the gradient of the road surface based on the attitude of the vehicle and corrects the drive torque based on the gradient.
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