| 摘要 |
Friction-circle limit values of wheels are calculated, requested resultant tire forces and resultant tire forces of the wheels are calculated, requested excessive tire forces and excessive tire forces of the wheels are calculated, an over-torque is calculated, and a control amount is calculated. With reference to a preset map, the minimum driving force is set on the basis of a road-surface slope and a requested engine torque, and the minimum driving torque serving as a lower limit is calculated on the basis of the minimum driving force and a total gear ratio of a vehicle so as to perform lower-limit correction of the control amount.
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