Importance

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Abstract

While keeping the sum of torques for all four driving wheels constant, a torque control part sequentially determines torque control values so the rotational speed of first, second, and third selected driving wheel pair become the same. Then, a driving force estimation part estimates driving forces of the driving wheels on the basis of the determined torque control values. Subsequently, a centroid estimation part calculates ratios of the driving forces from information about the correlation among the driving forces of the first through third selected driving wheel pairs. Then, the centroid estimation part estimates the centroid position of a moving body on the basis of the ratios of the relevant driving forces. Consequently, the centroid of the moving body can be estimated with a simple configuration without the provision of any special sensors.

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First Claim