| 摘要 |
<p>A vehicle is provided in which, when a slip between a wheel and a road surface is increased, a driving and braking control is performed to reduce the slip. A change rate in a wheel vertical load is determined. A mode of the driving and braking control is changed based on the determined change rate. The change of mode may be performed by changing at least one of the start of the driving and braking control, the reduction rate or the lower bound during the temporary reduction of the braking force or driving force, and the increasing rate during increasing the braking or driving force after the temporary reduction, or the like, according to the change rate in the wheel vertical load.</p> |
