| 摘要 |
PURPOSE:To perform accurate detection of a running road by providing a third calculating means to calculate a road gradient from a relation of a balance of rotation moment between each ground touching load exerted on a front wheel and a rear wheel position and a vehicle weight exerted on a center of gravity position based on loads calculated by first and second calculating means. CONSTITUTION:When a vehicle is started to run on a slope, current ground touching loads WF and WR of front and rear wheels are calculated by means of a second calculating means. In this case, the ground touching loads WF and WR and a vehicle weight WAV in the center of gravity of a vehicle are exerted in a direction shown by an arrow mark, and the gradient 9 of a running road is calculated from the balance of a vehicle rotation moment around an intersection between a perpendicular extending from the center of gravity position vertically down to a road. The road gradient theta can be detected through detection of an oil pressure in a hydraulic cylinder by means of oil pressure sensors 35a-35d and through computation processing of a program by using the oil pressure. |
