| 摘要 |
An acquisition unit (710) acquires the rotation speeds (ωFL, ωFR, ωRL, ωRR) of a plurality of driving wheels (WHFL, WHFR, WHRL, WHRR) of a moving vehicle (MV), and normal forces (NFL, NFR, NRL, NRR) acting on the plurality of driving wheels (WHFL, WHFR, WHRL, WHRR). Subsequently, a friction coefficient information calculation unit (720) calculates friction coefficients (μFL, μFR, μRL, μRR) relating to the plurality of driving wheels (WHFL, WHFR, WHRL, WHRR) on the basis of torque command values for the plurality of driving wheels (WHFL, WHFR, WHRL, WHRR) transmitted from a torque control unit (740) and the results of acquisition by the acquisition unit (710). A slip ratio calculation unit (730) calculates the slip ratios (λFL, λFR, λRL, λRR) of the plurality of driving wheels (WHFL, WHFR, WHRL, WHRR) on the basis of the calculated friction coefficients (μFL, μFR, μRL, μRR), and the rotation speeds (ωFL, ωFR, ωRL, ωRR) acquired by the acquisition unit (710). Consequently, the slip ratios of the respective driving wheels are easily, rapidly, and accurately estimated. |
