Importance

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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).

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First Claim