| 摘要 |
PURPOSE:To prevent the occurrence of unstable control due to a change in road surface friction, by a method wherein, based on a change in an estimated road surface load, a feedforward control amount is added to an output from a drive wheel servo control means to control a drive wheel in a manner to follow a target rotation speed. CONSTITUTION:A drive wheel servo control means M4 controls an internal combustion engine M1 or an automatic speed change gear M2 so that the rotation speed of a drive wheel M3 is adjusted to a target value. In this running, when the factor of friction with a road surface is changed, a relation between the number of revolutions of an engine and the rotation speed of a drive wheel through the automatic speed change gear M2 is also changed. Therefore, based on a control model, from a parameter responding to the number of revolutions of an engine and the rotation speed of a drive wheel, a change in a road surface load is estimated by a road surface load estimating means M5. Based on the change, an feedforward control amount is added to an output from the drive wheel servo control means M4 by means of a road surface load change compensating means M6. This constitution enables improvement of a running feeling and safety.
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