| 摘要 |
<p>The present invention comprises: a measurement step of measuring a vertical acceleration sensing value by a vertical acceleration sensor mounted on a vehicle; a vertical acceleration calculation step of calculating vertical acceleration of a vehicle by a vehicle speed; a gradient calculation step of calculating a gradient of the ground surface whereon a vehicle is located using the vertical acceleration value and a function of actual vertical acceleration; a determination step of determining a gradient direction and a gradient level of the ground surface by a calculated gradient; and a control step of providing the amount of torque to be distributed from a main driving wheel to a secondary driving wheel, to a power distribution device in advance, but providing differently the amount of torque in accordance with the gradient direction and the gradient level of the ground surface. The control step also includes a release control step which controls by maintaining or lowering the amount of torque provided to the power distribution device in accordance with a brake signal holding time or a specific gear stage holding time of a vehicle.</p> |
