To prevent the pulsation and vibration of a vehicle with rubber tires, even when the diameters of the rubber tires are different from each other and to reduce the abrasion of the rubber tires and, at the same time, to prevent the decline of the driving force of the vehicle, even when the rubber tires make racing.

A vehicle V1 (V2,...) runs with rubber tires T1, T2,... put on driving shafts D1, D2,.... Motors M1, M2,... respectively drive the driving shafts D1, D2,... in accordance with control commands from separately provided variable-voltage variable-frequency(VVVF) inverter controllers C1, C2,.... The controllers C1, C2,... match the output torque of the motors M1, M2,... to each other by controlling the driving frequencies of the motors C1, C2,..., so that the slips of the rubber tires T1, T2,... become equal to that of a reference rubber tire and. Then, when the rubber tires T1, T2,... make racing, the vehicle lowers the impact forces to the tires T1, T2,..., when the tires T1, T2,... again become adhesive by lowering the output torque of the motors M1, M2,... which drive the tires T1, T2,....