| 摘要 |
<P>PROBLEM TO BE SOLVED: To simplify control by automatically suppressing change in an attitude during braking/driving without depending on control on a braking/driving force, and making the control on the braking/driving force exerted only for realizing a target driving force. Ž<P>SOLUTION: The change in the attitude of the vehicle is brought about by a braking/driving reaction force during braking/driving of a wheel via a planetary gear set type reduction gear 7 by an electric motor 1, however, this is suppressed as follows: A ring gear 7r is rotated in response to the braking/driving reaction force, and a stroke is given to a spring seat 17 by a piston cylinder device 21, an oil link 18, and a piston cylinder device 19 for changing a preload of a suspension spring 16, thereby canceling the change in the attitude. That can dsipense with the control on the braking/driving force for suppressing the change in the attitude, therefore, with respect to the control on the braking/driving force by the electric motor 1, only control for generating the target driving force is enough, and a problem of an increase in complexity of the control on the braking/driving force can be avoided. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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