| 摘要 |
<p>PROBLEM TO BE SOLVED: To realize that a vehicle travels on a curved rail smoothly with a simple structure which does not require curve detection means and simple control.SOLUTION: A vehicular drive control device 10 comprises a yaw angle correction torque calculation part 130 which calculates and outputs a front left yaw angle correction torque Tand a rear left yaw angle correction torque Tso that both a difference (V-V) between a left reference speed Vand a front left translation speed Vand a difference (V-V) between the left reference speed Vand a rear left translation speed Vgo to a zero value, and calculates and outputs a front right yaw angle correction torque Tand a rear right yaw angle correction torque Tso that both a difference (V-V) between a right reference speed Vand a front right translation speed Vand a difference (V-V) between the right reference speed Vand a rear right translation speed Vgo to a zero value.</p> |
