Abstract: A vehicle includes: a plurality of wheels; a plurality of rotary electric machines, each configured to generate a driving force or a braking force for one of the plurality of wheels independently from other rotary electric machines; a power storage device configured to exchange electric power with the plurality of rotating electric machines; a processor configured to calculate a required torque of each of the plurality of wheels; a rotational speed detecting sensor configured to detect a rotational speed of each of the plurality of wheels; and a controller configured to calculate a power distribution ratio that is a distribution ratio of electrical power from the power storage device to the plurality of rotating electric machines based on the required torque of each of the plurality of wheels and the rotational speed of each of the plurality of wheels.

Abstract: A motor control device includes a motor that generates torque corresponding to a current for energizing multi-phase coils, a current sensor that detects a current value of the current for energizing the multi-phase coils, and a controller that obtains a current value of a current flowing through a predetermined coil by adding an origin learning value to a signal input from the current sensor and that controls a current for energizing the predetermined coil based on the current value. The motor control device obtains, each time the origin learning value is changed by a predetermined value, an amplitude of a predetermined order in a q-axis current of the motor based on the changed origin learning value and the signal input from the current sensor, and performs correction based on the origin learning value at the time when the amplitude switches from a decreasing tendency to an increasing tendency.

Abstract: In a vehicle control device provided in a vehicle including a motor configured to apply a regenerative braking force to a wheel, a braking force controlling portion controls torque of the motor such that the motor generates a regenerative braking force corresponding to a requested braking force requested to the vehicle. When the wheel locks during braking, the braking force controlling portion executes an antilock control in which the torque of the motor is controlled such that the lock of the wheel is restrained. An acquisition portion acquires the deceleration speed of the vehicle. A derivation portion derives an expected deceleration speed for the vehicle based on the requested braking force. In a case where the braking force controlling portion executes the antilock control, the braking force controlling portion controls vibration of the motor based on the difference between the expected deceleration speed and the deceleration speed.

Abstract: A motor control device includes a motor that generates torque corresponding to a current for energizing multi-phase coils, a current sensor that detects a current value of the current for energizing the multi-phase coils, and a controller that obtains a current value of a current flowing through a predetermined coil by adding an origin learning value to a signal input from the current sensor and that controls a current for energizing the predetermined coil based on the current value. The motor control device obtains, each time the origin learning value is changed by a predetermined value, an amplitude of a predetermined order in a q-axis current of the motor based on the changed origin learning value and the signal input from the current sensor, and performs correction based on the origin learning value at the time when the amplitude switches from a decreasing tendency to an increasing tendency.

Abstract: A plurality of cylinders are provided. An in-cylinder pressure sensor is mounted on each of the plurality of cylinders. A combustion parameter (e.g., the amount of generated heat) is calculated from the output of the in-cylinder pressure sensor. The air-fuel ratio for a cylinder is enleaned by reducing a fuel injection amount until the combustion parameter coincides with a predetermined value. Each cylinder is subjected to fuel injection amount reduction control so that the combustion parameter coincides with the predetermined value. The air-fuel ratio for each cylinder is then calculated in accordance with the reduction amount of fuel injection amount. The calculated air-fuel ratios are compared to detect an air-fuel ratio imbalance between the cylinders.

Abstract: A reduction in the accuracy of a failure determination of a filter due to a reduction in the detection accuracy of a PM sensor is suppressed. To this end, provision is made for an NOx selective reduction catalyst arranged in an exhaust passage of the internal combustion engine to reduce NOx by means of a reducing agent supplied thereto, a supply device to supply urea water as the reducing agent from an upstream side of the NOx selective reduction catalyst, a PM sensor to detect an amount of particulate matter in an exhaust gas at the downstream side of the NOx selective reduction catalyst, and a control unit to make an amount of production of intermediate products from the urea water supplied from the supply device to ammonia smaller when an amount of particulate matter is detected by the PM sensor than when not detected.

Abstract: A plurality of cylinders are provided. An in-cylinder pressure sensor is mounted on each of the plurality of cylinders. A combustion parameter (e.g., the amount of generated heat) is calculated from the output of the in-cylinder pressure sensor. The air-fuel ratio for a cylinder is enleaned by reducing a fuel injection amount until the combustion parameter coincides with a predetermined value. Each cylinder is subjected to fuel injection amount reduction control so that the combustion parameter coincides with the predetermined value. The air-fuel ratio for each cylinder is then calculated in accordance with the reduction amount of fuel injection amount. The calculated air-fuel ratios are compared to detect an air-fuel ratio imbalance between the cylinders.

Abstract: A reduction in the accuracy of a failure determination of a filter due to a reduction in the detection accuracy of a PM sensor is suppressed. To this end, provision is made for an NOx selective reduction catalyst arranged in an exhaust passage of the internal combustion engine to reduce NOx by means of a reducing agent supplied thereto, a supply device to supply urea water as the reducing agent from an upstream side of the NOx selective reduction catalyst, a PM sensor to detect an amount of particulate matter in an exhaust gas at the downstream side of the NOx selective reduction catalyst, and a control unit to make an amount of production of intermediate products from the urea water supplied from the supply device to ammonia smaller when an amount of particulate matter is detected by the PM sensor than when not detected.