Patent ID: 9376112
Filing Date: 2016-06-28
CPC Classification: B60K,B60W,Y02T

Claim Text:
1. A vehicle control device comprising: at least one drive unit that drives a corresponding tire via a drive shaft; a reference rotation speed calculating module that calculates a torsional amount of the drive shaft on the basis of a required torque, and outputs a reference rotation speed for a slip determination, the reference rotation speed being obtained by adding the torsional amount to a rotation speed of the drive unit, the rotation speed corresponding to a vehicle speed; at least one slip determiner that compares the rotation speed of the drive unit with the reference rotation speed to determine whether or not the tire is slipping; and a rotation speed control module that controls the rotation speed of the drive unit on the basis of a target rotation speed when the slip determiner determines that the tire is slipping, and controls a rotation speed of the tire on the basis of the target rotation speed when a slip of the tire comes under control.