| 摘要 |
PROBLEM TO BE SOLVED: To provide an electric drive vehicle travel control method capable of suppressing unnecessary turning promoting yaw moment generated when applying a brake to a drive wheel when a vehicle body turns.SOLUTION: A travel control method is applied to, for example, an electric drive dump truck driving or braking rear wheels 5L, 5R which are the left and right drive wheels by controlling electric motors 6L, 6R which are positioned to the left and right by an inverter device 30. At all times during braking when a vehicle body 1 turns, a slip index &sgr; which is an index of a slip determination is derived on the basis of a representative velocity Vv of the vehicle body 1 and a wheel velocity of a rear wheel, from among the left and right rear wheels 5L, 5R, which is located to the outward side with respect to a turning center of the vehicle body 1. On the basis of this slip index &sgr;, a correction amount Ft of a brake drive force instruction value which is applied respectively to the left and right rear wheels 5L, 5R is derived. The driving of the left and right rear wheels 5L, 5R is controlled by the brake drive force instruction values T_ML, T_MR which are weakened by this correction amount Ft. |
