Patent ID: 7906919

Claim:
A slip control device of an electric vehicle having a pair of left and right motors for driving a left and right wheels of the vehicle independently, comprising: torque directive control means for calculating torque directives for the motors respectively based on accelerator pedal depressions and steering angles and outputting the calculated torque directives to each of motor control sections of the motors; first reference speed calculation means for calculating a first reference speed of one of the pair of left and right motors to be controlled based on rotation speed of the other motor of the pair of motors; and restriction applying means for determining a permissible speed range for each of the motors by applying prescribed speed deviation to each of the calculated reference speeds and applying restriction to each of the torque directives sent from the torque directive control means based on the permissible speed range determined for each of the motors, wherein said first reference speed calculation means calculates said first reference speed of one of the pair of motors by multiplying the speed of the other motor of the pair of motors by a turning factor obtained from torque admeasurements characteristic prescribed for left and right motors in accordance with steering angles.