| 摘要 |
PROBLEM TO BE SOLVED: To precisely measure a road surface μ(frictional coefficient) in a vehicle provided with a motor-driven drive device for assisting a start and a turn, between left and right driven wheels. SOLUTION: When torques are transmitted to driven wheels 4L, 4R by driving electric motors 6L, 6R in a motor-driven drive device, slip rates of the driven wheels, are obtained from variation in the speed of the driven wheels 4L, 4R caused by the drive of the motors. Further, output torques of the motors 6L, 6R are obtained from motor currents detected by ammeters 17L, 17R, and a road surface μ can be detected in view of a correlation between the output torque and the slip rate. |
