| 摘要 |
To achieve increases in the ground-covering properties of a vehicle and to execute traction control that is better matched to the travel state of a vehicle. In the present invention the amount of brake control is corrected in accordance with the degree of stall prevention requests such that the amount of brake control is matched to a travel state. For example, when the speed of a vehicle body is low, the vehicle body is often traveling a road surface that is difficult to travel, and the degree of stall prevention requests is small. In such cases, the present invention exhibits LSD effects and increases ground-covering properties by executing vehicle wheel slip control based on stronger brake control, while increasing safety properties by better enabling generation of deceleration. Then, as the speed of the vehicle body increases, because it is conceivable that the vehicle body is leaving a place that is difficult to travel and the degree of stall prevention requests is high, the present invention executes switching such that brake control is lowered and, under conditions in which a driver wants to travel faster, prevents failure to obtain the speeds requested by the driver because of unwanted generation of large braking force. |
