| 摘要 |
<p>PROBLEM TO BE SOLVED: To provide an electric vehicle that can properly prevent a tire from skidding according to a road surface condition etc. and provide skid prevention without unnecessary restriction of travelling performance for the skid prevention.SOLUTION: In the electric vehicle, slip rate estimation means 42 obtains a slip rateλbased on respective revolution speeds N1, N2 of a driven wheel and a driving wheel, a disturbance observer 43 obtains a generated torque estimation value ^Te caused by other external forces including a vehicle body weight etc. acting on the vehicle, action torque estimation means 44 obtains the whole action torque T acting on the driving wheel 2 based on the generated torque estimation value ^Te and a motor torque Tm, friction coefficient estimation means 45 estimates a friction coefficientμbetween a road surface and a tire based on the torque and the slip rate, calculation means 46 defines an allowable maximum torque Tmax based on the friction coefficientμand a vertical load ^FZ, and then torque restriction is performed so as not to exceed the allowable maximum torque.</p> |
