| 摘要 |
According to the present invention, a state is canceled in which vehicle wheels driven by a motor are stopped by motor traction control and vehicle wheels driven by an engine intermittently slip. The vehicle comprises an engine for driving main drive wheels (1FL·1FR), and an electric motor (3) for driving auxiliary drive wheels (1RL·1RR). A 4WD controller (19) includes a motor TCS process for restricting the electric motor torque on the basis of the slipping of the auxiliary drive wheels (1RL·1RR), and causing the slipping of the auxiliary drive wheels (1RL·1RR) to converge. The 4WD controller (19) restricts the slip convergence by the motor traction controller upon determining that the slope of the road surface is equal to or greater than a preset threshold. |
