| 摘要 |
Provided is a vehicle slip determination device that can avoid erroneous determinations of excess slipping of vehicle wheels during switches between driving and braking of the vehicle wheels by an electric motor, and improve determination accuracy. In this slip determination device, when first and second motor speeds (NMOT1, NMOT2), which are the speeds of rear motors (41, 61) for braking and driving rear wheels (WRL, WRR), have reached a reference speed (NMREF) set on the basis of vehicle wheel speeds (NWFL, NWFR, NWRL, NWRR), it is determined that excess slipping has occurred in the rear wheels (WRL, WRR). When the code of a target torque (TROBJ) of the rear motors (41, 61) is inverted, either the reference speed (NMREF) is changed to a value that is more difficult for the first and second motor speeds (NMOT1, NMOT2) to reach, or determination of excess slipping is restricted. |
