To reduce vibrations due to backlash in a gear interposed between an in-wheel motor and a wheel.
A vehicle comprises a plurality of wheels including wheels making a pair in a fore-and-aft direction or in a lateral direction; an in-wheel motor device provided to each wheel and capable of outputting drive torque and brake torque; and a gear means provided on each wheel, and including a first gear transmitting the outputted drive torque to the corresponding wheel and a second gear meshing with the first gear. A brake driving force control device comprises a computing means computing the drive torque or a brake torque value which satisfies a condition that the first gear is continuously urged on a first rotating direction side decided about each wheel to the second gear, corresponds to an operation state or a behavior state of a vehicle, and should be ouputtted from an in-wheel motor device, for every wheel; and a controlling means controlling the in-wheel motor device to output the computed value.
COPYRIGHT: (C)2007,JPO&INPIT
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Koji Yamamoto
Satoshi Nakamura