Patent ID: 9694852
Date: 2017-07-04
CPC Classifications: B60T,B62D,F16D

Claim:
1. A vehicle stop control device for a vehicle including four or more wheels and turning devices respectively provided in all of the wheels so as to allow independent turning of the wheels, the wheels including driven wheels being driven to travel by corresponding independent motors, the motors each having a rotation angle sensor to output a rotation angle signal, the vehicle stop control device comprising: a normal-state turning control unit configured to output, to the turning devices, a turning amount command value defined by a steering amount signal inputted from a steering input device to input steering angles of the wheels; and a stopped-state turning control unit configured to detect a vehicle speed based on the rotation angle signal outputted from the rotation angle sensor, and configured to, when the detected vehicle speed is less than or equal to a first speed threshold and an accelerator input value is less than or equal to an acceleration threshold, perform hill hold of the vehicle with the turning device of one or more of the wheels turning the corresponding wheel toward a toe-in or toe-out side by an amount greater than the turning amount command value from the normal-state turning control unit.