| 摘要 |
PROBLEM TO BE SOLVED: To perform appropriate traveling control according to the estimation results of a road surface gradient by improving the accuracy of estimation of the road surface gradient of a travel path. SOLUTION: A vehicle gradient estimating device 10a includes: a vehicle speed sensor 21 which detects a vehicle speed; a vehicle body acceleration calculating unit 31 which calculates the vehicle body acceleration of a vehicle on the basis of the vehicle speed detected by the vehicle speed sensor 21; an acceleration correction amount calculating unit 32 which calculates acceleration correction amounts comprising an engine load deceleration, acceleration by creep torque, or the like; an acceleration correcting unit 33 which corrects the vehicle body acceleration by the acceleration correction amounts; a brake fluid pressure sensor 23 which detects a brake fluid pressure; and a first gradient estimating unit 36 which estimates the gradient of the travel path on the basis of a ratio between the acceleration calculated by the acceleration correcting unit 33 (that is, deceleration due to the operation of the brake) and the brake fluid pressure when the vehicle speed is equal to or less than a prescribed value showing almost the stopped state of the vehicle. COPYRIGHT: (C)2011,JPO&INPIT
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