| 摘要 |
A vehicle apparatus is provided to enable a clutch (12) to be re-engaged without creating a shock when there is rollback of the wheels (3L or 3R) which are driven by an electric motor (4) via the clutch (12). The vehicle apparatus comprises a travel direction command determining section (steps S43, S44), an electric motor counterelectromotive force detecting section (step S22), and a wheel rotational direction determining section (steps S42, S45, S46). The travel direction command determining section (steps S43, S44) is configured to determine whether a forward travel command or a reverse travel command has been issued. The electric motor counterelectromotive force detecting section (step S22) is configured to detect a counterelectromotive force of an electric motor (4) that drives a wheel (3L or 3R) of a vehicle. The wheel rotational direction determining section (steps S42, S45, S46) is configured to determine whether the wheel (3L or 3R)is rotating in an opposite direction to a vehicle travel direction command determined by the travel direction command determining section (steps S43, S44), based on a determination that a polarity of the counterelectromotive force detected by the electric motor counterelectromotive force detecting section (steps S22) does not match the vehicle travel direction command determined by the travel direction command determining section (steps S43, S44). |
