Propulsion motor control apparatus for battery vehicle

A propulsion motor control apparatus for a battery vehicle including two front wheels having a common axis and a rear wheel, said apparatus comprising;

• a steering angle sensor configured to detect a steering angle subtended between the common axis of the two front wheels and an axis of the rear wheel;
• a ratio computing device configured to compute a ratio, based on the detected steering angle, of a distance between an intersection point of the two axes and a first front wheel on a side further from the intersection point, and a distance between the intersection point and a second front wheel on a side closer to the intersection point;
• a function determining device configured to determine a second motor rotation speed/current command value function for the second front wheel based on a first motor rotation speed/current command value function for the first front wheel and the computed ratio;
• and
• a control device configured to simultaneously individually control respective propulsion motors provided for the two front wheels based on the first and second motor rotation functions such that the first and second motor rotation speed/current command value functions for the first and second front wheels at low speeds do not have the same value and do not overlap.