To suppress unsprung vibration without separately providing a stroke speed detection means on a suspension device.
The traveling device 100 drives a left side front wheel 2L by a left front side electric motor 10L, drives a right side front wheel 2R by a right front side electric motor 10R, drives a left side rear wheel 3L by a left rear side electric motor 11L, and drives a right side rear wheel 3R by a right rear side electric motor 11R. Further, based on wheel rotation speed variation of the left side front wheel 2L and the right side front wheel 2R detected by a resolver 40L for the left front side electric motor, a resolver 40R for the right front side electric motor, a resolver 41L for the left rear side electric motor and a resolver 41R for the right rear side electric motor, the outputs of the left front side electric motor 10L, the right front side electric motor 10R, the left rear side electric motor 11L and the right rear side electric motor 11R are controlled. Further, when there is risk that the wheel rotation speed variation is erroneously recognized, the output control of the left front side electric motor 10L and the right front side electric motor 10R based on the wheel rotation speed variation is stopped.
YOSHISUE KANSUKE
OKUMURA KAZUYA
HOSOKAWA AKIHIRO
MORIGUCHI NAOKI
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