| 摘要 |
PROBLEM TO BE SOLVED: To determine a slip of tires instantaneously and stop it, and to suppress deterioration of controllability due to twist vibration of a drive shaft, when driving tires via the drive shaft.SOLUTION: A control device for a vehicle includes: a motor for driving tires via a drive shaft; a reference rotational frequency calculation unit 260 for calculating a twist amount of the drive shaft based on a request torque, and for outputting a reference rotational frequency for slip determination which is acquired by adding the twist amount to the rotational frequency of the motor corresponding to a vehicle speed; a slip determination unit 272 for comparing the rotational frequency of the motor and the reference rotational frequency, and for determining whether or not the tires are slipping; and a rotational frequency control unit 270 for, in the case where it is determined that the tires are slipping, controlling the rotational frequency of the motor with respect to a target rotational frequency, and for controlling the rotational frequency of the tires with respect to the target rotational frequency when the slip of the tires are converging. |
