Road slope estimation device and road slope estimation method

摘要

PROBLEM TO BE SOLVED: To provide a road gradient estimation device and a method of estimating road gradient that can accurately estimate an estimation value of a road gradient by excluding influence from unexpected disturbance, and that can prevent an erroneous estimation following the exclusion of the influence from the disturbance.SOLUTION: Determination means is provided for determining whether or not a correction gradient θy becomes closer to an estimation gradient θx during a time from receiving a stop command of a vehicle till the vehicle comes to a stop. If the correction gradient θy is determined by the determination means not to become closer to the estimation gradient θx by the time the vehicle comes to a stop, a correction of the estimation gradient θx by correction means is prohibited and an estimation value θz of a road gradient is configured to be set to the estimation gradient θx.SELECTED DRAWING: Figure 4