| 摘要 |
PROBLEM TO BE SOLVED: To properly carry out speed change control in driving up and down a slope by making it possible to provide a detecting opportunity of grade resis tance even during brake operation. SOLUTION: Braking force is estimated (S4, S5) from brake hydraulic pressure (or stepping pressure of brake pedal). Thereafter, grade resistance mg.sinθis enumerated (S6) as mg.sinθ=F-ma-RL-FB in accordance with driving force (S1), acceleration resistance ma (S2), rolling air resistance RL (S3). Hereby, a pattern of automatic speed change is changed (S7) in accordance with the grade resistance mg.sinθ. |
