The concept of predictive delay control effectiveness for vehicle ramp driving is proposed. A dynamic control model of predictive vehicle ramp driving based on negative delay control effectiveness is established, and the validity criterion of stability control is given. The dynamic characteristic equation of variable speed driving before the ramp is derived, and the range of predictive driving effectiveness control parameters on uphill and downhill slopes is obtained according to the effectiveness control theory. The simulation results show that the effective control parameters of the control system consist of the intersection of inequalities and are related to turning coefficient, wind resistance coefficient and negative time delay. The effectively design slope (downhill) speed can reduce fuel consumption, and realize ecological driving of driverless vehicles by selecting appropriate control parameters and time delays.