| 摘要 |
PURPOSE:To make both cornering forces and the direction of movement of each wheel proper so as to secure the acceleration characteristic or both the deceleration characteristic and directional stability of a vehicle by controlling the torque of each wheel so that the slip rate of each wheel approximates a desired value corresponding to the slip angle of each wheel. CONSTITUTION:The slip angle of each wheel of a vehicle is detected by a slip angle detecting means 2. A desired slip rate of each wheel is decided by a desired slip rate deciding means 4 according to the slip angle detected. Further, the torque of each wheel is controlled by a wheel torque controlling means 6 so that the actual slip rate of each wheel approximates the desired slip rate. Thereby both cornering forces and forces in the direction of movement of each wheel are both controlled to proper magnitude so as to secure the acceleration characteristic or both the deceleration characteristic and directional, stability of the vehicle.
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