To properly evaluate a limit value for vehicle acceleration when a vehicle ascends or descends a level difference and to limit a desired value for vehicle acceleration according to the limit value, thereby maintaining always stable vehicle operation even if the vehicle enters into a high level difference, and allowing the vehicle to travel safely and comfortably even where there are high level differences.
This vehicle has a vehicle body, a driving wheel 12 rotatably attached to the vehicle body, and a vehicle controller for controlling driving torque imparted to the driving wheel 12, and controlling the attitude of the vehicle body. The vehicle controller limits the desired value for vehicle acceleration when the vehicle ascends or descends a level difference in a road surface.
COPYRIGHT: (C)2010,JPO&INPIT
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Mamoru Shimizu
Makoto Kawai