| 摘要 |
PROBLEM TO BE SOLVED: To perform an intervention of control at an appropriate timing for a driving source brake torque after all wheels of a four-wheel driving vehicle show wheel-spin state.SOLUTION: A vehicle control device arranged at a four-wheel driving vehicle comprises wheel speed taking means 110 for taking a wheel speed; vehicle body speed estimating means 140 for estimating an estimated vehicle body speed on the basis of the wheel speed; driving source brake torque control means (engine brake torque control means 150) for controlling a driving source brake torque when the wheels are apt to slip to eliminate slipped state; and acceleration taking means 120 for taking acceleration from an acceleration sensor 93. The vehicle body speed estimating means 140 has limiting means 141 for limiting an amount of variation at an increasing side of the estimated vehicle body speed on the basis of the acceleration taken by the acceleration taking means 120. The driving source brake torque control means controls the driving source brake torque by applying the estimated vehicle body speed limited by the limiting means 141.SELECTED DRAWING: Figure 3 |
