To prevent the problem of a conventional system that the running characteristics in turning motion changes according to the state of a tire.
In a method of controlling the driving torque to be given to wheels in turning motion, a temporary torque command is computed (S10 to S14), based on the target yaw rate in the processing step of the first half. In the next step, correction is added to the temporary torque command so as to compute an actual torque command (S16). Then, the actual torque command is given to a means for giving driving force to the driving wheels (S18). Since the driving torque to be given to the driving wheels can be adjusted, based on the air pressure of two or more wheels, the running characteristics in turning motion can be improved.
Yusuke Murata
Tomoyuki Miki