| 摘要 |
PROBLEM TO BE SOLVED: To provide a judgment device for shifting to a highμroad, capable of quickly and certainly judging the shift state from a lowμroad to a highμroad, which is simple in structure, and a wheel torque controller equipped with the judgment device. SOLUTION: Comparing a torque gradientαof a wheel with a predetermined gradient K1, and comparing a vehicle body acceleration DVso with a predermined acceleration G1, a shift state from the lowμroad to the highμroad is judged, based on the both compared results. For example, on vehicle braking, when the torque gradient is greater than the predermined gradient and the vehicle body acceleration is greater than the predermined acceleration, it is judged as that the wheel shifted from the lowμroad to the highμroad. When it is judged as that the wheel shifted from the lowμroad to the highμroad, the fluid pressure is controlled so as to increase the torque imparted to the wheel with the wheel torque controller, and make an anti-skid control (or traction control).
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