| 摘要 |
PROBLEM TO BE SOLVED: To remove sense of incongruity of a driver by controlling the wasteful interruption of accelerating or decelerating to driving wheels with proper controllability in a slip suppressing control at acceleration or deceleration under the state of a road surface having large coefficient of friction that hardly causes slip. SOLUTION: A CPU 32 obtains the slip speed of a driving wheels 15, based on the speed of front wheels 13L, 13R and of the driving wheel and judges that the wheel 15 is in a slip state, if the slip speed exceeds a threshold. The CPU 32 judges, in a torque-reducing control inhibiting state, that the wheel 15 is in a torque-reducing control permitting state, if the slip speed exceeds a torque-reducing control permitting threshold larger than the slip-judging one and that, if vehicle speed drops to a given speed around a stopping speed afterward, it is in the torque-reducing control inhibiting state. If the CPU 32 judges that the wheel 15 is in a slip state in the torque-reducing control permitting state, as drive motor 22 is controlled, in such a way as to reduce the driving torque or braking torque for the wheel 15. |
