Patent ID: 7806218
Filing Date: 2010-10-05
Classification: B60K,B60L,B60W,B60Y,G05D,Y02T

Abstract:
1. A running vehicle having front and rear driving wheels, and adapted to change torque distribution to the front and rear driving wheels in accordance with acceleration, the running vehicle comprising: a sensor for measuring the acceleration of the running vehicle; means for determining a distribution rate of torque to each of the front and rear driving wheels in accordance with the found acceleration; means for changing driving torque to each of the front and rear driving wheels based on the found distribution rate to control driving motors driving the front and rear driving wheels; means for detecting an absolute position of the running vehicle; means for detecting a rotation amount of each of the front and rear driving wheels; means for comparing a change in the absolute position per time and the rotation amount per time of each of the front and rear driving wheels to find presence or absence of a slip for each of the front and rear driving wheels; and means for correcting the found driving torque so as to eliminate the slip.