| 摘要 |
PURPOSE:To embody fail-safe when a sensor is broken, by judging the failure of at least one sensor, continuing control, fixing the output of the sensor during the slip control when failure is judged, and prohibiting the slip control after the completion of the control. CONSTITUTION:As for a vehicle 1, the driving torque of an engine 4 is transmitted to the left and right driving wheels 2a and 2b through an automatic transmission 5 and an operation device 6. A controller 8 controls the engine 4 on the basis of a variety of detection signals supplied from a variety of sensors 9a-9d and 10 for detecting the vehicle 1 and the operation state of the engine 4, and controls each slip of the left and right driving wheels 2a and 2b. In this case, in the slip control, the failure of a steering angle sensor 10 is judged. When a failure is judged, control is continued, fixing the steering angle. After the completion of the control, the succeeding slip control is prohibited. Further, also in the failure of the steering angle sensor 10 in the nonslip control, the succeeding slip control is prohibited. |
