Patent ID: 8645041

Claim:
A slip control apparatus comprising: a driving torque calculating means for calculating a demanded torque demanded for driving driving wheels so that a vehicle speed lies within a constant speed range, the driving torque calculating means also calculating a driving torque for driving the driving wheels so that the vehicle speed lies within the constant speed range even if slippage of at least one of the driving wheels occurs; a driving torque applying means for applying the calculated driving torque to the driving wheels; a slip restraining means having a brake control portion calculating braking torque to apply to a slipping driving wheel when the slippage occurs at the driving wheel, for individually applying the calculated braking torque to each of the slipping driving wheels to restrain slippage at each of the slipping driving wheels; wherein when the slippage does not occur at each driving wheel, the driving torque calculated by the driving torque calculating means is the demanded torque; wherein when the slippage occurs at some of the driving wheels, the driving torque calculated by the driving torque calculating means is a sum of the demanded torque and a consumed driving torque corresponding to a driving torque consumed by restraining the driving wheel slippage; and the consumed driving torque is the brake torque calculated by the brake control portion.