Systems and methods are disclosed for estimating slipperiness of a road surface. This estimate may be obtained using an image sensor mounted on a vehicle. The estimated road slipperiness may be utilized when calculating a risk index for the road, or for an area including the road. If a predetermined threshold for slipperiness is exceeded, corrective actions may be taken. For instance, warnings may be generated to human drivers that are in control of driving vehicle, and autonomous vehicles may automatically adjust vehicle speed based upon road slipperiness detected.

Systems and methods are disclosed for estimating slipperiness of a road surface. This estimate may be obtained using an image sensor mounted on a vehicle. The estimated road slipperiness may be utilized when calculating a risk index for the road, or for an area including the road. If a predetermined threshold for slipperiness is exceeded, corrective actions may be taken. For instance, warnings may be generated to human drivers that are in control of driving vehicle, and autonomous vehicles may automatically adjust vehicle speed based upon road slipperiness detected.

A human-powered vehicle control device controls the transmission to initiate a shifting operation based on a set of prescribed conditions that changes the transmission ratio of a human-powered vehicle. The control device includes an electronic controller that switches between a first control state for controlling the transmission to change the transmission ratio in accordance with a first prescribed set of conditions, and a second control state for controlling the transmission to prevent the change of the transmission ratio as compared with if the electronic controller is in the first control state. The electronic controller switches between the first control state and the second control state in accordance with a detection of at least one of a steering state of the human-powered vehicle, a surface condition of a travel path on which the human-powered vehicle travels, and a pedaling preparation state related to the pedals of the human-powered vehicle.

A continuously variable transmission includes a primary pulley, a secondary pulley, a metal belt and a controller. The metal ring includes a ring and a plurality of elements bundled by the ring. The elements have respective receiving portions opening in a radial direction of the metal belt and receive the ring in the receiving portions. Assuming a direction perpendicular to a circumferential direction and a radial direction of the metal belt as a lateral direction L, the controller executes a falling-off countermeasure control of the element when a relative movement of the element in the lateral direction L with respect to the ring is detected or a presence of an action of a force on the element which causes such relative movement is detected.

A continuously variable transmission includes a primary pulley, a secondary pulley, a metal belt and a controller. The metal ring includes a ring and a plurality of elements bundled by the ring. The elements have respective receiving portions opening in a radial direction of the metal belt and receive the ring in the receiving portions. Assuming a direction perpendicular to a circumferential direction and a radial direction of the metal belt as a lateral direction L, the controller executes a falling-off countermeasure control of the element when a relative movement of the element in the lateral direction L with respect to the ring is detected or a presence of an action of a force on the element which causes such relative movement is detected.

A control device for an automatic transmission in a vehicle with a constant speed travel mode includes: a determination section that determines whether the vehicle is traveling on a slope road; a slope adaptation control section that implements a first transmission shift control if not traveling on a slope road and, if traveling on a slope road, implements a second transmission shift control for selecting a transmission shift position of a lower speed than case of not traveling on a slope road; a delaying section that, upon switching from the second transmission shift control to the first transmission shift control, implements an upshift delay control for performing upshift one by one at a predetermined time interval; and a setting section that, in case of traveling at the constant speed travel mode, sets the time interval shorter in comparison with case of traveling not at the constant speed travel mode.

A control device for an automatic transmission in a vehicle with a constant speed travel mode includes: a determination section that determines whether the vehicle is traveling on a slope road; a slope adaptation control section that implements a first transmission shift control if not traveling on a slope road and, if traveling on a slope road, implements a second transmission shift control for selecting a transmission shift position of a lower speed than case of not traveling on a slope road; a delaying section that, upon switching from the second transmission shift control to the first transmission shift control, implements an upshift delay control for performing upshift one by one at a predetermined time interval; and a setting section that, in case of traveling at the constant speed travel mode, sets the time interval shorter in comparison with case of traveling not at the constant speed travel mode.

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.

Disclosed is a method for determining a position of a motor vehicle by means of a location device of the motor vehicle. First, a first position (x.sub.1) related to an installation point of the location device in the motor vehicle is determined. In order to determine a position suitable for controlling the motor vehicle, with reference to the said first position (x.sub.1) a second position (x.sub.2) related to a center of gravity of the vehicle is determined, in that the first position (x.sub.1) is offset by a distance (a) between the said installation point of the location device and the center of gravity of the vehicle.

Disclosed is a method for determining a position of a motor vehicle by means of a location device of the motor vehicle. First, a first position (x.sub.1) related to an installation point of the location device in the motor vehicle is determined. In order to determine a position suitable for controlling the motor vehicle, with reference to the said first position (x.sub.1) a second position (x.sub.2) related to a center of gravity of the vehicle is determined, in that the first position (x.sub.1) is offset by a distance (a) between the said installation point of the location device and the center of gravity of the vehicle.