| 摘要 |
<p>PROBLEM TO BE SOLVED: To accurately estimate the road surface grade in any condition by considering the driving system loss torque and the turning resistance torque, besides the flat road traveling resistance torque and the acceleration resistance torque. SOLUTION: A driving system loss torque Tlos is computed on the basis at least one of oil pressure Pl, oil temperature Tmp, the number of revolution of input shaft Nin, change gear ratio Ip of a transmission. An effective vehicle driving torque Toy is computed by subtracting the driving system loss torque Tlos from an ideal vehicle driving torque Tor. The grade resistance torque Trg is computed by subtracting the flat road traveling resistance torque Trl and the acceleration resistance torque Tra from the effective vehicle driving torque Toy, and the road surface grade during the traveling is computed on the basis of the grade resistance torque Trg. The grade resistance torque Trg can be also computed by computing the turning resistance torque Tcorn on the basis of the steering angle of the vehicle and subtracting the turning resistance torque Tcorn from the effective vehicle driving torque Toy.</p> |
