Patent ID: 9061588
Filing Date: 2015-06-23
Classification: B60K,B60L,B62M,Y02T

Abstract:
1. A vehicle comprising: a first wheel; a first electric motor configured to drive the first wheel; a drive torque operator configured to be operated by an operator; a slip detection unit configured to detect a slipping state of the first wheel; a first torque command value calculation unit configured or programmed to, at a time of no detection of a first wheel slip when the slip detection unit has not detected the slipping state of the first wheel, calculate a first torque command value for the first electric motor according to an input to the drive torque operator, and at a time of detection of the first wheel slip when the slip detection unit has detected the slipping state of the first wheel, calculate the first torque command value such that the first torque command value repeatedly fluctuates alternately between a first value not more than the first torque command value at the time of no detection of the first wheel slip and a second value smaller than the first value; and a first motor drive unit that is configured to drive the first electric motor according to the first torque command value calculated by the first torque command value calculation unit.