Driving force controller for electric motor vehicle

A driving force controller for an electric motor vehicle having wheels independently driven by electric motors, said controller comprising:

• driving demand detecting means for detecting a value of driving force demanded for said vehicle;
• vehicle condition detecting means, for detecting traveling conditions of said vehicle, comprising:
• a steering angle sensor for detecting a steering angle;
• and
• vehicle turn detecting means for detecting a vehicle condition associated with the turning of the vehicle;
• plural wheel condition detecting means, for independently detecting a driving condition of each individual wheel;
• driving force computing means including (a) means responsive to said value of demanded driving force, said detected traveling conditions and said detected wheel driving conditions for computing distributed low values of driving forces to be distributed to each wheel;
• (b) means responsive to the computed distributed low values of driving forces to be distributed to each wheel for determining a normal range for at least one of said detected vehicle traveling conditions indicating normal operation of each wheel necessary for the vehicle to travel along a desired course;
• and (c) means responsive to said at least one of said detected traveling conditions being outside of said determined normal range for correcting said computed distributed low values of driving forces to be distributed to each wheel so as to reduce deviation of the travel of the vehicle from the desired course;
• and
• a plurality of motor drivers responsive to said computed distributed low values of driving forces to be distributed to each wheel, each motor driver being associated with one of said motors for independently controlling the associated motor to generate an output driving force that corresponds to said respective computed distributed low value of driving force from said driving force computing means.