Abstract: A slope estimation device estimates a slope of a vehicle traveling road, and includes an input section that acquires a detected value of an acceleration sensor for detecting acceleration in a front-back direction of the vehicle, a centripetal force detecting section that detects centripetal force acting on the acceleration sensor due to a turning motion of the vehicle, and a slope computing section that computes the slope of the vehicle traveling road based on the detected value of the acceleration sensor. When the vehicle is in the turning motion, the slope computing section computes the slope of the traveling road by determining a component of the centripetal force superimposed on the detected value of the acceleration sensor based on a turning center position of the vehicle, a gravity center position of the vehicle, and an installation position of acceleration sensor, and subtracting the component of the centripetal force from the detected value of the acceleration sensor.

Abstract: Provided are a travel control device, a vehicle, a driving assistance device, and a travel control method that are capable of improving travel control responsiveness. The travel control device comprises: an automatic travel control unit that, when an automatic travel function is active for vehicle travel control, performs a process for calculating and outputting a target output torque for an engine installed in the vehicle through feedback calculation based on the difference between a target value for a control parameter related to the automatic travel function and the actual value of the control parameter; and an engine control unit that controls the engine such that the outputted target output torque and the output torque of the engine match.

Abstract: Provided are a travel control device, a vehicle, a driving assistance device, and a travel control method that are capable of improving travel control responsiveness. The travel control device comprises: an automatic travel control unit that, when an automatic travel function is active for vehicle travel control, performs a process for calculating and outputting a target output torque for an engine installed in the vehicle through feedback calculation based on the difference between a target value for a control parameter related to the automatic travel function and the actual value of the control parameter; and an engine control unit that controls the engine such that the outputted target output torque and the output torque of the engine match.

Abstract: A slope estimation device estimates a slope of a vehicle traveling road, and includes an input section that acquires a detected value of an acceleration sensor for detecting acceleration in a front-back direction of the vehicle, a centripetal force detecting section that detects centripetal force acting on the acceleration sensor due to a turning motion of the vehicle, and a slope computing section that computes the slope of the vehicle traveling road based on the detected value of the acceleration sensor. When the vehicle is in the turning motion, the slope computing section computes the slope of the traveling road by determining a component of the centripetal force superimposed on the detected value of the acceleration sensor based on a turning center position of the vehicle, a gravity center position of the vehicle, and an installation position of acceleration sensor, and subtracting the component of the centripetal force from the detected value of the acceleration sensor.