Vehicle controller and method for controlling vehicle

1. A vehicle controller comprising:

a wheel speed sensor configured to detect rotational speed of driving wheels to which motive power is transmitted from a driving source through a power transmission mechanism including an input shaft and an output shaft, the input shaft being connected to the driving source, the output shaft being connected to the input shaft through a gear;

a skid sensor configured to determine whether or not the driving wheels are skidding based on an output of the wheel speed sensor;

an upper limit calculator configured to calculate an upper limit of rotational speed of the driving wheels if the skid sensor determines that the driving wheels are skidding; and

a motive power controller configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit calculated by the upper limit calculator,

wherein the wheel speed sensor is configured to detect rotational speed of driven wheels, and

wherein the upper limit calculator calculates the upper limit of rotational speed based on

an allowable torque calculated from an allowable rotational inertial torque of the output shaft of the power transmission mechanism, and

a difference in rotational speed between the driving wheels and the driven wheels.

2. The vehicle controller according to claim 1 , wherein the driving source is inseparably connected to the driving wheels through the power transmission mechanism.

3. The vehicle controller according to claim 1 ,

wherein the skid sensor determines that the driving wheels are skidding if a difference in rotational speed between the driving wheels and the driven wheels exceeds a predetermined value.

4. The vehicle controller according to claim 1 , wherein the allowable torque is a fixed value calculated based on strength of the power transmission mechanism.

5. The vehicle controller according to claim 1 , wherein the motive power controller is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit when a traction control switch is turned off.

6. The vehicle controller according to claim 1 , wherein the motive power controller is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit only when a traction control switch is turned off.

7. A vehicle controller comprising:

wheel speed detecting means for detecting rotational speed of driving wheels to which motive power is transmitted from a driving source through a power transmission mechanism including an input shaft and an output shaft, the input shaft being connected to the driving source, the output shaft being connected to the input shaft through a gear;

skid determination means for determining whether or not the driving wheels are skidding based on an output of the wheel speed detecting means;

upper limit calculating means for calculating an upper limit of rotational speed of the driving wheels if the skid determination means determines that the driving wheels are skidding; and

motive power controlling means for controlling motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit calculated by the upper limit calculating means,

wherein the wheel speed detecting means is configured to detect rotational speed of driven wheels, and

wherein the upper limit calculating means calculates the upper limit of rotational speed based on

an allowable torque calculated from an allowable rotational inertial torque of the output shaft of the power transmission mechanism, and

a difference in rotational speed between the driving wheels and the driven wheels.

8. The vehicle controller according to claim 7 , wherein the allowable torque is a fixed value calculated based on strength of the power transmission mechanism.

9. The vehicle controller according to claim 7 , wherein the motive power controlling means is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit when a traction control switch is turned off.

10. The vehicle controller according to claim 7 , wherein the motive power controlling means is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit only when a traction control switch is turned off.

11. A method for controlling a vehicle, comprising:

detecting rotational speed of driving wheels to which motive power is transmitted from a driving source through a power transmission mechanism including an input shaft and an output shaft, the input shaft being connected to the driving source, the output shaft being connected to the input shaft through a gear;

detecting rotational speed of driven wheels;

determining whether or not the driving wheels are skidding based on the rotational speed detected in the detecting of the rotational speed;

calculating an upper limit of rotational speed of the driving wheels if it is determined that the driving wheels are skidding; and

controlling motive power output from the driving source using a motive power controller so that rotational speed of the driving wheels is equal to or smaller than the upper limit calculated in the calculating of the upper limit,

wherein the upper limit calculated in the calculating of the upper limit is based on

an allowable torque calculated from an allowable rotational inertial torque of the output shaft of the power transmission mechanism, and

a difference in rotational speed between the driving wheels and the driven wheels.

12. The method according to claim 11 , wherein the allowable torque is a fixed value calculated based on strength of the power transmission mechanism.

13. The method according to claim 11 , wherein the motive power controller is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit when a traction control switch is turned off.

14. The method according to claim 11 , wherein the motive power controller is configured to control motive power output from the driving source so that rotational speed of the driving wheels is equal to or smaller than the upper limit only when a traction control switch is turned off.