| 摘要 |
<p>PROBLEM TO BE SOLVED: To inhibit the shifting-up on a downward slope and to prevent the shift hunting. SOLUTION: When following a preceding car in running, an inter-vehicle distance is detected by an inter-vehicle distance sensor 12, a self-car speed is detected by a car speed sensor, a target car speed is calculated on the basis of the inter-vehicle distance detected by an inter-vehicle distance control part 40 and the self-car speed, and a target braking.driving force command value is calculated by a car speed control part 50 on the basis of the target car speed. On this occasion, a disturbance estimate corresponding to the grade of a downward slope is calculated by a robust compensator, and the disturbance estimate is subtracted from the target braking.driving force command value to calculate the target braking.driving force for controlling the braking force and the driving force of a vehicle. A decelerating force margin is calculated on the basis of the target braking.driving force by a decelerating force margin calculating part 52, a continuous travelling time is measured in a condition that the disturbance estimate representing the grade of the downward slope is over a predetermined value, and the shifting-up is forbidden until a shifting-up forbid time corresponding to the continuous travelling time passes.</p> |
