| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle with better possibility of exiting a stuck state.SOLUTION: A vehicle 10 includes: motors 15, 16 disposed in left-right drive wheels 11, 12; and an ECU 19 for controlling operations of the motors 15, 16. In a case where the vehicle 10 does not exit a stuck state even if both the motors 15, 16 are caused to simultaneously generate force with the same magnitude and direction, the ECU 19 causes the motors 15, 16 to respectively generate at least one of the magnitude and direction of drive force differently. This makes it possible to generate rotational moment around a vertical axis direction, causing the vehicle 10 to rotate around the vertical axis direction. As a result a frictional state between the drive wheels 11, 12 and the road surface is changed to increase the possibility of moving the vehicle 10, facilitating to exit the stuck state. |
