Patent ID: 7565937

Claim:
An electric vehicle comprising: a vehicle body; a front wheel supported on the vehicle body for steering motion in accordance with motion of the vehicle body; a pair of rear wheels supported on the vehicle body for steering motion; a steering unit configured to regulate a steer angle of each of the rear wheels; a motor unit configured to independently apply a wheel torque to each of the rear wheels; a first setpoint determination section configured to determine a setpoint of a total of the wheel torques; a second setpoint determination section configured to determine a setpoint of an attitude of the vehicle body; a third setpoint determination section configured to determine a setpoint of a yaw rate of the vehicle body; and a control unit connected for signal communication to the steering unit, the motor unit, the first setpoint determination section, the second setpoint determination section, and the third setpoint determination section, the control unit being configured to perform the following: controlling the total of the wheel torques in accordance with an associated setpoint; and controlling the steer angles and a difference between the wheel torques so that the attitude and the yaw rate vary in accordance with associated setpoints.