| 摘要 |
PROBLEM TO BE SOLVED: To simplify determination of driving skid by directly using a value of the drive skidding and determining a target value as a function of a skid value. SOLUTION: In the control of drive skidding, the drive skidding of at least one driving wheel is determined, and the drive skidding is reduced when the skid is high. To recover a prescribed value, a braking device of a vehicle and a driving unit of the vehicle correspond to the torque as a function of a value of this drive skidding. A determined driving skid value representing the drive skidding of at least one driving wheel is used as a target value for an operation amount to adjust the drive skidding. It is directly converted into the target value for limiting the position of a throttle valve. The 'directly' here means that the value is not compared with a skid target value or a skid threshold, and the target value of the operation amount is directly used as a function of the skid value. The target value of the operation amount is a limit angle to the throttle valve of an internal combustion engine, which a driver cannot exceed and is a torque target value to be applied as an upper limit to the torque of the driving unit.
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