| 摘要 |
PURPOSE:To always control slip of driving wheels appropreately by computing a road surface friction coefficient each time until acceleration of a car body immediately after starting traction control is increased sufficiently, and computing a road surface friction coefficient with a meaned acceleration after the acceleration of the car body is increased sufficiently. CONSTITUTION:A slip control means 300 for controlling driving wheels 400 so that a slip value of the driving wheels 400 coincides with a predetermined target value when a slip value detected by a slip detecting means 100 exceeds a predetermined value, and an estimating means 200 for estimating a road surface friction coefficient to be used at the time of determining a target value of the driving wheels 400 are provided. During a predetermined time immediately after starting traction control, the estimating means 200 obtains acceleration of coupled driving wheels on the basis of a change of the speed of the coupled driving wheels during a first predetermined time, and after the described predetermined time is passed, acceleration of the coupled driving wheels is obtained on the basis of a change of the speed of the coupled driving wheels during a second predetermined time, and a road surface friction coefficient is estimated with these acceleration of the coupled driving wheels. A target slip value of the driving wheels is thereby set on the basis of these estimated and computed road surface friction coefficient, and a slip value of the driving wheels is controlled so as to coincide with this target slip value. |
