| 摘要 |
<p>The purpose of the present invention is to, when the skid tendency of drive wheels is detected, reliably recover the grip force of the drive wheels and avoid a reduction in drive torque to thereby improve the acceleration performance of a vehicle. A road surface friction coefficient (mu) is estimated, and according to the road surface friction coefficient (mu), a grip limit torque (TLIM) at which the skid tendency of rear wheels (1RL, 1RR) can be suppressed is estimated. When the skid tendency of the rear wheels (1RL, 1RR) is detected, the drive torque of an electric motor (3) is reduced to a minimum motor torque (TMIN). When the drive torque of the electric motor (3) is reduced to the minimum motor torque (TMIN), the drive torque is increased by an increment (alpha) for every calculation period until reaching the grip limit torque (TLIM). When the drive torque of the electric motor (3) is increased to the grip limit torque (TLIM), the drive torque is increased by an increment (beta) smaller than increment (alpha) for every calculation period until the skid tendency of the rear wheels (1RL, 1RR) is detected.</p> |
