| 摘要 |
PROBLEM TO BE SOLVED: To enable a vehicle to turn and run the corner part with a small radius smoothly even if it is a large vehicle with large inertia, by energizing reverse torque to a drive motor which drives right and left drive wheels at the time of braking. SOLUTION: In a method of performing the direction control (locus control) by the speed difference between the right and left drive wheels 8 and 9, the direction control is performed by energizing reverse torque to the necessary sides of the drive motors 6 and 7 to drive the drive wheels 8 and 9, at the time of braking such as the time of cornering, etc. Therefore, when the locus of running of the vehicle 3 tends to deviate, the direction can be modified surely by the braking by reverse torque, and even if it is a vehicle 3 with large inertia, it can turn and run the corner part with a small radius smoothly Therefore, the cornering property can be improved, and also the running speed of the vehicle 3 can be increased. |
