Abstract: A car control apparatus including a wheel sensor, wheel torque calculating means for calculating wheel torque from the wheel speed, drive force detecting means for detecting drive force generated by an electric motor, car body drive force calculating means for calculating car body drive force from the above drive force and wheel torque, car body drive force fluctuating component extracting means for extracting multiple frequency band fluctuating components of the car body drive force, and drive or braking force control unit for controlling the running state of a car.

Abstract: The dynamic state amount of a tire when a load is applied to the tire while running can be estimated accurately and stably by installing tire deformation amount measuring means 11A and 11B at axisymmetrical positions which are equally distant in the axial direction from the center in the axial direction of the tire on the cross-section in the radial direction of the tire on the inner side of the belt portion of a tire tread in the radial direction, such as at the inner surface of the tread, between an inner liner and a ply, between plies or between a ply and a belt to measure the waveforms of deformation of the tire, detecting the contact time which is the time difference between contact edges from the waveforms of deformation, calculating contact length indices kA and kB from the contact time and the wheel speed detected by a wheel speed sensor 15, calculating the average value k of the above indices kA and kB, and obtaining a load applied to the tire by using the calculated average value k of the indices o

Abstract: A car control apparatus comprising a wheel sensor 13, wheel torque calculating means 23 for calculating wheel torque from the wheel speed, drive force detecting means 12 for detecting drive force generated by an electric motor 3, car body drive force calculating means 24 for calculating car body drive force from the above drive force and wheel torque, car body drive force fluctuating component extracting means 25 for extracting multiple frequency band fluctuating components of the car body drive force, and drive or braking force control unit 22 for controlling the running state of a car, wherein drive or braking force to be applied to each wheel is obtained from main drive force, slip ratio control drive force and tire disturbance compensation drive force calculated based on the extracted fluctuating components of the car body drive force and supplied to a motor controller 11 to drive or brake the drive wheel 2 and apply micro-vibration to the tire in order to suppress micro-vibration generated between the t