| 摘要 |
<p>A first driving wheel torque reduction control quantity is set by a first setting means (2) according to a slip condition of a driving wheel, and a second driving wheel torque reduction control quantity is set by a second setting means (5) according to a yaw motion condition and a reference value of the yaw motion condition. Then, a driving wheel torque is reduced according to the first and second driving wheel torque reduction control quantities. In another aspect, a driving wheel slip reference value is corrected by a correction value to be set according to the yaw motion condition and the reference value of the yaw motion condition. Then, the slip condition is detected according to the driving wheel slip reference value corrected above.</p> |
