| 摘要 |
A slip control device, a slip control method, and a vehicle provided with such a slip control device are provided, with which the vehicle can travel stably even on a slippery road surface maintaining good road holding. The device is provided with a torque directive control means (23) for calculating torque directives for the motors respectively based on acceleration pedal depressions (24) and steering angles (26) and outputting them to each of motor control sections (21, 22) of the motors, a first reference speed calculation means (48) for calculating first reference speed of one of the pair of left and right motors to be controlled based on rotation speed of the other motor of the pair of motors, and a restriction putting means (20) for putting restriction to each of the torque directives sent from the torque directive control means (23) based on a permissible speed range determined for each of the motors by putting prescribed permissible speed deviation to each of the calculated reference speeds.
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