| 摘要 |
PURPOSE:To achieve a stable slip control on a low (mu) pavement by providing means for calculating the variation rate of differential rotation between at least two wheels in four wheels and modifying the speed ratio of transmission to the incremental side when the variation rate is higher than a predetermined level. CONSTITUTION:The variation rate of the differential rotation of two wheels detected through a rotation detecting means C is calculated by a variation rate calculating means D. When the variation rate is higher than a predetermined level, the speed ratio of a transmission A being set by a speed ratio control means B is modified to the incremental side by a speed ratio modifying means E. When the condition where the slip of wheel increases is obtained based upon the variation rate of the differential rotation and employed for increasing the speed ratio, the drive torque of wheel can be reduced. Consequently, the slip of wheel can be reduced reliably even on a low (mu) pavement where the slip increasing speed is high. |
