| 摘要 |
PROBLEM TO BE SOLVED: To stabilize the behavior of a vehicle while suppressing vibration thereof by eliminating error in driving force due to the dead-band region of a motor. SOLUTION: When a torque command Tt overlapping a dead-band region is detected ("Yes" in determination at step S6) out of torque commands Tti distributed at a predetermined rate, the torque command Tt overlapping a dead-band region is corrected such that the absolute value has the minimum value outside the dead-band region. When the torque command Tt overlapping a dead-band region is corrected to the outside of the dead-band region, each torque command Tt<SB>FL</SB>-Tt<SB>RR</SB>is corrected to sustain the difference ([Tt<SB>FL</SB>+Tt<SB>RL</SB>]-[Tt<SB>FR</SB>+Tt<SB>RR</SB>]) of the torque command Tt to the left wheel and the right wheel. COPYRIGHT: (C)2007,JPO&INPIT
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