Abstract: This disclosure relates to a driving force adjusting device including a pair of electric motors (1) that drives left and right wheels (5) of a vehicle, a differential mechanism (3) that provides the left and right wheels (5) with a torque difference, and left and right drive shafts (4) that transmits driving force from the differential mechanism and to the left and right wheels (5), the driving force adjusting device having four elements and two degree of freedom. In this driving force adjusting device, inertia moments (JML,JMR) on paths from the pair of electric motors (1) to the left and right wheels (5) are set to values such that a resonance frequency (f) of the driving force adjusting device when the vehicle is turning comes to be larger than a yaw resonance frequency (fyaw) of the vehicle.

Abstract: This disclosure relates to a driving force adjusting device including a pair of electric motors (1) that drives left and right wheels (5) of a vehicle, a differential mechanism (3) that provides the left and right wheels (5) with a torque difference, and left and right drive shafts (4) that transmits driving force from the differential mechanism and to the left and right wheels (5), the driving force adjusting device having four elements and two degree of freedom. In this driving force adjusting device, inertia moments (JML,JMR) on paths from the pair of electric motors (1) to the left and right wheels (5) are set to values such that a resonance frequency (f) of the driving force adjusting device when the vehicle is turning comes to be larger than a yaw resonance frequency (fyaw) of the vehicle.

Abstract: A vehicle control device that calculates a vehicle body velocity of a vehicle is disclosed. Sensors (18, 19) that obtain respective wheel velocities of left and right wheels (5) arranged along the vehicle width direction are provided. A calculator (11) that calculates, when the left and right wheels (5) are not slipping, an average value (A) of the wheel velocities as the vehicle body, and calculates, when at least one of the left and right wheels (5) is slipping, the vehicle body velocity on the basis of the average value (A) and a lower velocity value (B) between the wheel velocities is provided. With this configuration, the precision in calculating the vehicle body velocity is enhanced, suppressing a cost rise.

Abstract: A control device (10) for a vehicle (1) equipped with two electric motors (2) includes: a first calculation unit (11) that calculates a required torque value of each of left and right axles (4L, 4R); a second calculation unit (12) that calculates an equivalent moment of inertia of each of the left and right axles (4L, 4R); a third calculation unit (13) that calculates an estimated angular acceleration of each of left and right wheels (5) based on the two required torque values calculated by the first calculation unit (11) and the two equivalent moments of inertia calculated by the second calculation unit (12); and a determination unit (14) that compares actual angular accelerations of the left and right wheels (5) with the estimated angular accelerations calculated by the third calculation unit (13) to perform off-ground determination for each of the left and right wheels (5).

Abstract: A vehicle control device that calculates a vehicle body velocity of a vehicle is disclosed. Sensors (18, 19) that obtain respective wheel velocities of left and right wheels (5) arranged along the vehicle width direction are provided. A calculator (11) that calculates, when the left and right wheels (5) are not slipping, an average value (A) of the wheel velocities as the vehicle body, and calculates, when at least one of the left and right wheels (5) is slipping, the vehicle body velocity on the basis of the average value (A) and a lower velocity value (B) between the wheel velocities is provided. With this configuration, the precision in calculating the vehicle body velocity is enhanced, suppressing a cost rise.