A control unit controlling torque of four motors capable of independently driving respective wheels, and setting a predetermined reference torque to the four motors based on first information from a driver input, and includes a distributed torque limitation mode wherein at least one of first motors from the four motors are controlled at a torque acquired by distributing a first distributed torque to the predetermined reference torque through addition to the predetermined reference torque based on second information of vehicle motion state; at least one of second motors different from the first motors are controlled at a torque acquired by distributing a second distributed torque to the predetermined reference torque through subtraction from the predetermined reference torque; and the first and second distributed torque are limited to prevent a torque acting direction from changing before and after the distribution through addition and the distribution through subtraction.


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    Title :

    WHEEL CONTROL DEVICE, VEHICLE, AND WHEEL CONTROL METHOD


    Contributors:

    Publication date :

    2015-10-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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