| 摘要 |
PURPOSE:To prevent a sudden start or the like and secure the running safety, when any abnormalities occurred in a slip control means, by stopping its control as well as restraining the increase of an applying torque by a cushioning control means prior to its stoppage. CONSTITUTION:A control unit U controls, in slip controlling, the opening of a throttle valve 13 so that it obtains the target slip rate SET for throttle controlling by a control means UT, and brakes 23 and 24 is feed back-controlled so that right and left driving wheels 4 and 5 obtain predetermined target slip rate SBT by a control means UB. In this case, because SET is set larger than SBT and between them a point at which the slip control by the brakes is stopped is set, when any abnormalities were detected and the slip control is stopped, in the brake control stopping prior to it the brake pressure is sufficiently reduced, so the sudden increase of an applying torque does not occur. Thus, a sudden start or the like can be prevented and the running safety can be secured. |
