| 摘要 |
PURPOSE:To prevent large torque from being delivered between symmetrical driving wheels via a differential gear by giving braking effort to not only the driving wheel large in a slip but also the other small in the slip at a time when a slip differential between these symmetrical driving wheels is large enough. CONSTITUTION:Each slip ratio of symmetrical driving wheels RA and LA to be detected by symmetrical slip detecting devices RS and LS against a road surface is judged of its difference by a slip differential judging device E, and when this difference is smaller than the specified value, for example, if a slip occurs in the right driving wheel RA, braking effort is given to it by a right brake RB via a right braking effort controlling device RC. On the other hand, when a slip differential is more than the specified value, symmetrical braking effort controlling devices RC and LC are controlled by a common slip control device D, and the braking effort in the specified size is given to not only the driving wheel large in a slip but also the driving wheel small in the slip by symmetrical brakes. Thus, delivery of large torque via a differential gear at time of slip control is preventable and, what is more, the slip is quickly convergeable. |
