| 摘要 |
PROBLEM TO BE SOLVED: To generate the dynamic characteristics of each vehicle or a brake command value being adapted to driving environment and a power running value, and to control acceleration/deceleration while fully utilizing a viscous limit, by referring to the generation history of sliding, and racing and accelerating or decelerating a brake pattern and a power running pattern for each axle. SOLUTION: A method has a pattern correction parameter table 5 for storing a pattern correction parameter that indicates a brake pattern correction gain and a power running pattern correction gain for each change speed point; a speed - viscosity pattern correction part 6 that refers to the table 5 and calculates a pattern correction value according to a driving speed, multiplies it by a brake pattern and a power running pattern being outputted by a speed - viscosity pattern operation part 1 for correcting the brake pattern and the power running pattern, and outputs it to a stress load operation part 3; and a pattern correction pattern update part 7 of a pattern correction parameter corresponding to the generation history of racing and sliding by monitoring the racing/sliding generation signal being detected by a speed operation and racing/sliding detection part 2. |
