| 摘要 |
PROBLEM TO BE SOLVED: To effectively control the slippage of wheels by computing the slippage of the wheels, and in the case where the slip value exceeds the prescribed threshold, controlling the output torque of a motor and an engine, and changing a ratio of lowering degree of each output torque of the motor and the engine, in response to the traveling condition. SOLUTION: During the operation of a vehicle, an ECU 100 drives the vehicle for traveling with the drive force of a motor 2 in a low area of the required torque, and with the drive force of an engine 1 and the motor 2 in a middle area thereof, and with the driving force of the engine 1 in a low area thereof. Slip ratio SL of each wheels 11-14 and change ratio ΔSL thereof are commuted, and when the change ratio ΔSL exceeds the prescribed threshold, output torque of the motor 1 and the engine 1 are controlled so as to converge the slip value to a target value. At this stage, a coefficient of road surface friction μ is detected, and when the coefficient of road surface friction μ is high, lowering degree of the output torque of te motor 2 in relation to the lowering degree of the output torque of the engine 1 is changed, so as to be larger in comparison with the case when the coefficient of road surface friction is low. |
