DEVICE FOR CONTROL DURING ONE-WHEEL-LOCKING FOR LEFT-RIGHT INDEPENDENTLY DRIVEN VEHICLE

摘要

PROBLEM TO BE SOLVED: To provide a device for control during one-wheel-locking for a left-right independently driven vehicle capable of traveling that maintains travel speed and turning performance equal to those before locking, even if one wheel is locked.SOLUTION: This invention is applied to a vehicle in which a front wheel 1 or a rear wheel 2 can be left-right independently driven and all respective wheels 1, 2 can be steered. A lock detection means 25 and a lock-time corresponding control means 26 are provided. The lock detection means 25 detects that any drive wheel 1 is locked. The lock-time corresponding control means 26, when locking is detected, performs control for generating drive force to complement drive force of the vehicle that has been reduced due to locking, in a drive wheel 1 on a left-right opposite side of a locked drive wheel 1, control for setting a lateral skidding angle of the drive wheel 1 to zero, and control for adjusting a steering angle of a driven wheel 2 so that yaw moment of the vehicle becomes zero. For a vehicle capable of four-wheel independent driving, and four-wheel independent steering, drive force is generated to wheels 1, 2 on any of a left-right opposite side, an opposing corner side, and a front-rear opposite side of the locked drive wheel.