| 摘要 |
PROBLEM TO BE SOLVED: To provide a method for controlling a vehicle coping with this by presuming the state of a road surface during slipping. SOLUTION: The method for controlling the vehicle includes a step of limiting a torque output from a motor when a rotary angle accelerationαof the motor outputting a torque directly to a drive shaft connected to a drive wheel exceeds a threshold valueαslip capable of detecting the slip due to idling. The method further includes a step of presuming that a road surface is not an extremely lowμroad state when the rotary angle accelerationαbecomes less than a negative predetermined valueαref, and a step of releasing (relaxing) the limit of the torque outputted from the motor at a time point that a wheel speed differenceΔV of a deviation of a wheel speed Vf of the drive wheel from a wheel speed Vr of a non-drive wheel becomes less than a predetermined value Vref. Meanwhile, the method includes a step of releasing (relaxing) the limit of the torque outputting from the motor at a time point of crossing a zero by presuming a state of an extremely lowμroad on the road surface, when the rotary angle accelerationαexceeds a negative peak without becoming less than negative predeterminedαref and crossing the zero due to slowly rising. COPYRIGHT: (C)2005,JPO&NCIPI |
