| 摘要 |
PROBLEM TO BE SOLVED: To estimate a change in road surface state in traveling and to cope with the change. SOLUTION: After a rotation angle accelerationαof a motor directly outputting torque to the drive shaft connected to axle of the dirigible road wheels exceeds a thresholdαslip for detecting occurrence of slip due to racing, a first peak angle accelerationα1 approaching a first peak and a second peak angle accelerationα2 produced by multiplying a value approaching the next negative second peak by a value of -1 are detected S110-S116, and a change in road surface state (a change from a lowμroad to a highμroad) is determined when the second peak angle accelerationα2 is larger than the first peak angle accelerationα1 multiplied by a constant k even if the second peak angle accelerationα2 is a thresholdαref or larger or the second peak angle accelerationα2 is below the thresholdαref S118-S124. When a change in the road surface state is determined, torque output from the motor to the drive shaft is restricted for a predetermined time period S126. COPYRIGHT: (C)2004,JPO |
