| 摘要 |
<p>PROBLEM TO BE SOLVED: To enable stable traveling in light of tire friction limit according to the state of a vehicle at a time of occurrence of a failure relating to a function failure in a four-wheel drive traveling control.SOLUTION: At a time of occurrence of a failure relating to a function failure in a four-wheel drive traveling control, a request target drive torque is calculated on the basis of a first parameter in light of a tire friction limit and a model horizontal acceleration G (second parameter) (S11) and the request target drive torque is compared with an estimated drive torque (S12). If the estimated drive torque is greater than the request target drive torque, a first throttle control signal is transmitted to a throttle controller and the four-wheel drive control stops and transitions to a two-wheel drive control. If the estimated drive torque is smaller than the request target drive torque, the four-wheel drive control stops and transitions to the two-wheel drive control without transmitting the first throttle control signal (S13, S14, S15, S4, and S5).</p> |
