| 摘要 |
PROBLEM TO BE SOLVED: To improve traveling stability by smoothly performing a torque shift from a slip wheel to a non-slip wheel in an electric vehicle capable of performing four-wheel driving.SOLUTION: In a motor ECU 20 for controlling the traveling of an electric vehicle with a first electric motor driving front wheels of the vehicle and a second electric motor driving rear wheels, front axle torque Tf and rear axle torque Tr are changed by a torque shift amount calculation part 35 and a torque correction part 38 on the basis of a rotational speed difference &Dgr;Vfr of the front wheels and the rear wheels to shift output torque from a slip wheel of the front and rear wheels to a non-slip wheel. A gradient limiting part 36 limits the change rate of the torque shift amount Tm to an upper limit value or below where the non-slip wheel may not slip. |
