Patent ID: 11932258
Assignee: NISSAN MOTOR CO., LTD.
Field: Transport (Mechanical engineering)
Classification: CPC B  F | IPC B

Claim 0:
1. A vehicle control method for controlling a four-wheel drive vehicle based on an estimated vehicle body speed, the estimated vehicle body speed being determined from a wheel speed of each wheel of the four-wheel drive vehicle, the vehicle control method comprising:
determining whether a deviation of at least two of the wheel speeds among the wheel speeds is within a first prescribed range;
switching a method for selecting the wheel speed used for determining the estimated vehicle body speed between a first method and a second method when a sign of a drive torque that is applied to each of the wheels is reversed and the deviation of the at least two of the wheel speeds among the wheel speeds is within the first prescribed range; and
controlling a torque of an electric motor of the four-wheel drive vehicle based on the estimated vehicle body speed.