Patent ID: 9037311
Filing Date: 2015-05-19
Classification: B60W,G06F

Abstract:
1. A road surface slope estimating device comprising: a vehicle attitude detecting unit configured to detect an attitude of a vehicle body of a vehicle; a filtering unit configured to perform a filtering process on a detected vehicle body attitude value obtained by the vehicle attitude detecting unit to remove noise; a road surface slope estimating unit configured to estimate a road surface slope in accordance with a signal corresponding to the vehicle body attitude value subjected to the filtering process; a road surface slope change rate estimating unit configured to estimate an actual rate of change of the road surface slope; and a filter characteristic changing unit configured to change filter characteristics of the filtering unit with respect to the detected vehicle body attitude value in accordance with the actual rate of change of the road surface slope so as to enhance the filter characteristics when the actual rate of change of the road surface slope is low and configured to degrade the filter characteristics when the rate of change of the road surface slope is high.