抄録
The narrow space in cities, there exist a lot of roads and intersections. Because of there are many dangerous condition exists.Therefore, the prediction and commuter in small electric vehicle electric vehicle as the spread of urban area. The purpose of this research is slope stability, freezing road surface in urban areas, to develop the control method can be lowered. Slip control is carried out by ABS and regenerative braking force control, to improve the safety of the SEV. Because ABS can't put ABS which is a key control system of slipping control in a general vehicle on the small sized electric vehicle. Therefore the drive system of done purpose which achieves SEV smaller than inn wheel motor Thought control system for frozen in the ramp surface to realize the slip control. Will be carried out simulation and verification by model experiment. 4 wheel model with two wheel model, state feedback control, and to clarify the problem of robustness, etc
