| 摘要 |
PURPOSE:To direct all frictional forces of every driving wheel properly by providing means for controlling the output of a driving source to a proper value according to the degree of the tendency of shortage or excess of driving torque of a specific driving wheel whose tendency to be short of driving torque is most intensive or whose tendency to have excess driving torque is weakest. CONSTITUTION:A vehicle has a plurality of driving wheels 2 driven by a common driving source 1 and brakes 3 for restraining rotation of each driving wheel 2 independently of each other. A vehicle control device 4 runs the vehicle properly by controlling the rotary torque of each driving wheel 2. In this case, the vehicle control device 4 controls the output of the driving source 1 using a driving source control means 5 according to the degree of the tendency of shortage or excess of driving torque of a specific driving wheel 2 whose tendency to be short of driving torque is most intensive or whose tendency to have excess driving torque is weakest. Then the brake of each driving wheel 2 is controlled and the rotary torque of each driving wheel 2 is controlled by a brake control means 6 independently of each other. |
