VEHICLE CONTROL METHOD

摘要

The invention relates to a vehicle control method. The inventive method consists in: placing motors in more than one wheel; measuring the angular velocity in each of said wheels with motors; and calculating the load torque of the motors in said wheels. The aforementioned load torques are controlled using a control system in which the velocity of the first wheel is controlled such as to minimise the difference between the velocity of said wheel at a given moment and the pre-determined velocity at the same moment, while ensuring that load torque TI does not exceed limit load torque TI. The torque of the various remaining wheels is controlled such that load torqueTI is less than limit load torque TI* and, in these conditions, TI-TI(TI*/TI), wherein i=2-n and n is the number of wheels with motors, is minimised as much as possible.