| 摘要 |
PROBLEM TO BE SOLVED: To provide a control device capable of realizing enhancement of braking force of a vehicle and realizing shortening of a braking distance. SOLUTION: An absolute value of a slip angle of a wheel 2 is increased by firstly operating an actuator device 4 at braking. Therefore, lateral force is generated on a ground-contact surface of the wheel 2 and is utilized as the braking force of the vehicle 1. Then, a wheel drive device 3 is operated by varying rotation speed of the wheel 2 such that a deformation amount in an advancement direction of the vehicle on the ground-contact surface of the wheel becomes larger. Therefore, friction force generated on the ground-contact surface of the wheel can be increased and further enhancement of the braking force of the vehicle can be realized. COPYRIGHT: (C)2007,JPO&INPIT |
