| 摘要 |
PROBLEM TO BE SOLVED: To increase slip prevention performance while holding control stability and to achieve stable traveling while generating necessary drive force in accordance with road conditions.SOLUTION: A parameter calculation unit 390 calculates an adaptive gain coefficient k with regard to a travel road condition on the basis of a friction coefficient μ and slip rate λ sent from an acquisition unit 310, and a coefficient b within a storage unit 380. Subsequently, the parameter calculation unit 390 calculates an adaptive time constant τ, in which stability of traction control can be achieved, on the basis of the gain coefficient k and a coefficient a within the storage unit 380. Then, the calculated gain coefficient k is set in a gain multiplication unit 370, and the calculated time constant τ is set in a filter unit 360. Model-following control having an adhesion model in which slip does not occur in a drive wheel as a normative model is carried out in accordance with settings.SELECTED DRAWING: Figure 11 |
