Vehicle control device and vehicle control method

Abstract

A vehicle control device (10) according to the present disclosure controls outputs from a left drive source (2L) and a right drive source (2R) in a vehicle (1) including a left drive system that includes a left axle (4L) and a left wheel (5L) and a right drive system that includes a right axle (4R) and a right wheel (5R), the vehicle control device including: a calculation unit (11) that calculates a sum equivalent value corresponding to the sum of a left required torque and a right required torque and a difference equivalent value corresponding to the difference between the left required torque and the right required torque; and a control unit (13) that controls the aforementioned outputs by employing a sum model in which motion states of the left and right drive systems when the vehicle (1) is traveling straight are modeled and to which the sum equivalent value is applied, a difference model in which motion states of the left and right drive systems when the vehicle (1) is turning are modeled and to which the difference equivalent value is applied, a sum-mode instruction torque obtained by applying the sum equivalent value to the sum model, and a difference-mode instruction torque obtained by applying the difference equivalent value to the difference model.

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