| 摘要 |
PURPOSE:To restrain spinning of a vehicle by controlling the torque of each rear wheel while deciding a desired slip ratio in such a manner that when a slip angle detected exceeds a set value the larger the slip angle the larger the desired slip ratio of an inside rear wheel and the smaller the desired slip ratio of an outside rear wheel. CONSTITUTION:A slip angle detection means 2 is provided for detecting the slip angle of the body of a vehicle and a desired slip ratio is decided by a desired slip ratio deciding means 4 in such a manner that at least when the slip angle detected exceeds a set value, the larger the slip angle detected the larger the desired slip ratio of an inside rear wheel and the smaller the desired slip ratio of an outside rear wheel. The torque of each rear wheel is controlled by a rear wheel torque control means 6 in such a manner that the actual slip ratio of each rear wheel approximates the desired slip ratio decided. At least when the vehicle starts to spin, the rotary moment of each wheel is controlled in such a manner that frictional forces between each rear wheel and the road surface are generated in such a direction as effectively resisting the spin moment of the body of the vehicle thereby restraining spinning of the body. |
