| 摘要 |
<p>PROBLEM TO BE SOLVED: To smoothly perform a turning about either of right and left driven wheels while assuring a drive force on a road surface by suppressing the slip of a drive steering wheel. SOLUTION: A front wheel speed VLF (VRF) is provided from the front wheel speed NLF (NRF) of a front wheel 11L (11R) positioned on the outer side in turning, and a rear wheel speed VD is provided from the rear wheel speed ND of a drive wheel 12. A slip speed is provided as a difference in speed between a converted rear wheel speed VDP obtained by converting the speed of the front wheel speed VLF (VRF) to the speed of the drive wheel 12 and the rear wheel speed VD. The slip speed is converted into such a corrected slip speed that the speed is hard to exceed a reference value as a steer angleθbecomes larger. In the acceleration of a vehicle, the drive torque of a drive motor 19 is limited within a target drive torque so that the corrected slip speed becomes within the reference value.</p> |
