| 摘要 |
PROBLEM TO BE SOLVED: To prevent a brake from being operated continuously for a long period of time by securely performing the down-shifting when an estimated error is generated in the braking force of the brake in controlling the speed change in descending a slope. SOLUTION: The road surface grade (i) is estimated based on the driving force, acceleration resistance, and rolling/air resistance. When the brake is operated with the road surface grade (i) indicating the descending slope (S21, S23), the deviation of the accelerationαi estimated based on the road surface grade (i) and the driving force (S27-S29) from the actual accelerationαral (S30) is calculated as a value equivalent to the braking force of the brake. When the value equivalent to the braking force of the brake is larger than the threshold BRSL (S31), the speed change mode is changed to a speed change map for descending (S32). The smaller the threshold BRSL is set, the longer the continuation time of the brake operation is (S26). COPYRIGHT: (C)2003,JPO |
