| 摘要 |
<p>PROBLEM TO BE SOLVED: To control braking equipment at the time of stopping, and to control engine torque at the time of starting so as to enable a stop or a smooth start without operation by a driver by detecting speed of a vehicle so as to judge whether a vehicle is stopped or not, and estimating a slope of a road where the vehicle stops on the basis of the output of the judgment and the output of detection of acceleration of the vehicle. SOLUTION: On the basis of an output of a speed detecting sensor 81, a vehicle stop judging means 83 obtains the speed of the vehicle. Existence of output of a G sensor 82 is detected, and in the case of YES, the vehicle is judged to be stopped on a road with a slope is and in the case of NO, a judgment that the vehicle is judged to be stopped on a flat road. A road slope estimating means 84 estimates the road condition on the basis of the output of the G sensor 82 provided in the vehicle for vertical direction, fore and aft direction and lateral direction, and the relation in a stored memory. A vehicle stopping force computing means 85 computes the brake force which can securely stop a vehicle on the basis of a result of the estimated road slope, and a braking equipment control means 87 performs the control. A starting torque computing means 88 computes the engine torque, which can smoothly start the vehicle, on the basis of the road slope, and an engine control means 90 is controlled so as to brake and start the vehicle.</p> |
