| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric vehicle capable of appropriately preventing tire skid in consideration of the external force influence such as a vehicle weight and wind during traveling on a slope, and ensuring skid prevention without entailing unnecessary traveling performance restrictions for the skid prevention.SOLUTION: The invention is applied to an electric vehicle comprising an in-wheel motor drive device that includes a wheel bearing that supports a drive wheel 2, a motor 6, and a speed reducer. A motor torque command value is calculated on the basis of an estimated value ^Te of an influence amount of an external force on the drive wheel 2, a rotational speed of the drive wheel 2, an acceleration signal Tr, and a correction value Tc calculated from the estimated value ^Te of the influence amount of the external force on the drive wheel 2. |
