| 摘要 |
PROBLEM TO BE SOLVED: To provide an easy driving operation corresponding to a human's feeling and to allow stable travelling even when an excessive driving operation or an unintentional driving operation is performed. SOLUTION: It is checked whether or not the absolute value ¾NL-NR¾ of the difference between left motor rotation speed NL and right motor rotation speed NR exceeds a first set valueβ1 (S7). When NL-NR >β1, further, it is checked whether or not the left motor rotation speed NL or right motor rotation speed NR exceeds a second set value NO (S8). When either of the left and right motor rotation speeds NL and NR exceeds the second set value NO, the turning direction is determined comparing the left and right motor rotation speeds NL and NR with each other (S9). When right turning is performed, the left motor rotation speed NL is limited to the second set value NO or lower (S10). When left turning is performed, the right motor rotation speed NR is limited to the second set value NO or lower (S10). Thus, an increase in motor rotation speed is suppressed to secure travelling stability. COPYRIGHT: (C)2005,JPO&NCIPI |
