| 摘要 |
PROBLEM TO BE SOLVED: To provide a technique for suppressing deterioration of braking performance due to temperature change of each motor during braking, in a vehicle including a plurality of motors capable of driving or braking a plurality of wheels each independently.SOLUTION: A control unit 30 as a wheel control device includes: a detection unit 30a for detecting vehicle speed of a vehicle 10; and a control unit 40 for controlling motors 19-22 capable of driving or braking wheels 11-14 provided at the vehicle 10 each independently. The control unit 40 distributes a driving force to each of the motors 19-22 on the basis of a motor heat generation parameter regarding heat generation generating at each motor, when making the vehicle 10 decelerate from the vehicle speed detected by the detection unit 30a at predetermined deceleration by a brake force of the motors 19-22. |
