| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To perform the control of a running state and a vehicle body attitude suitable for running speed to be carried out highly accurately with respect to various usage conditions and using record so as to enable a vehicle to be driven safely and comfortably by estimating speed dependence resistor torque, which is an influence that acts on the vehicle according to the running speed of the vehicle. <P>SOLUTION: A vehicle includes a driving wheel 12 attached to a vehicle body rotatably and a vehicle controller, which controls the attitude of the vehicle body by controlling drive torque given to the driving wheel 12. The vehicle controller is provided with an estimating means, which estimates the speed dependence resistor torque, which is the resistance torque that acts on the drive wheel or/and the vehicle body accompanying the vehicle speed, based on the rotation state of the driving wheel, or/and the centroid position of the vehicle body, or/and the time history of the driving torque. <P>COPYRIGHT: (C)2010,JPO&INPIT</p> |
