To maintain a stable stop state irrespective of a road surface gradient even on a slope by discriminating whether or not a vehicle is in a stop state based on two different threshold values set up for the center-of-gravity movement velocity of the vehicle.
The vehicle comprises a driving wheel 12 mounted rotatably to the vehicle body and a vehicle controller, which controls the posture of the vehicle body by controlling driving torque given to the driving wheel 12. The vehicle controller estimates a road surface gradient based on the posture of the vehicle body, discriminates whether or not the vehicle is in a stop state based on two different threshold values set up for the absolute value of the center-of-gravity movement velocity of the vehicle 10, and determines an estimated value of the road surface gradient when it is in a stop state.
COPYRIGHT: (C)2009,JPO&INPIT
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| JP2005001554A | ||||
| JP6191251A |
Mamoru Shimizu
Makoto Kawai