| 摘要 |
PROBLEM TO BE SOLVED: To improve a capability of escaping from a stuck state.SOLUTION: A brake ECU sets a direction of swinging a vehicle body when an acceleration slip is detected in a part of driving wheels; calculates a driving force waveform for increasing or reducing a driving force at an eigen frequency at which the vehicle body resonates in a pitch direction when the vehicle body is to swing in the pitch direction; calculates a driving force waveform for increasing or reducing the driving force at an eigen frequency at which the vehicle resonates in a roll direction when the vehicle body is to swing in the roll direction; and transmits a vibration command representing the calculated driving force waveform to an engine ECU. As a result, the vehicle body swings in the pitch direction or the roll direction, wheels floating from a ground surface are temporarily placed on the ground surface, and the driving force is transferred to the ground surface when the wheels are being placed on the ground surface.SELECTED DRAWING: Figure 2 |
