Driving force control device

1 . A driving force control device for separately controlling a driving force of at least one pair of drive wheels of a vehicle, configured to:

acquire a detection value or an estimated value of a steering angle of the vehicle, a speed of each wheel including the drive wheels, and a speed of the vehicle;

set a driving force generated in each drive wheel;

control the driving force of each drive wheel so as to become a set driving force;

set a driving force to be generated in at least one pair of the drive wheels, based on a calculated value calculated by multiplying a difference between a speed difference between the at least one pair of drive wheels corresponding to a target yaw rate estimated from the acquired steering angle and the acquired speed of the vehicle and an acquired speed difference between the one pair of drive wheels by a coefficient based on at least one of a cornering stiffness and a driving stiffness of each drive wheel; and

calculate the driving force Fxn of the drive wheels based on the following equation (1):

F

x

⁢

n

=

w

n

w

⁢

F

d

±

K

n

(

v

wn

′

-

v

wn

2

V

-

t

2

⁢

r

′

V

)

(

1

)

in the above equation (1), w represents the weight of the vehicle, wn represents the load applied to a n-th drive wheel, Fd represents the driving force required by the driver, vwn represents a speed of the n-th drive wheel, vwn′ represents a speed of the drive wheel which is a pair with the n-th drive wheel, or the speed of the vehicle, V represents a speed of the vehicle, t represents a tread between the pair of drive wheels, and Kn represents a coefficient which varies according to at least one of a cornering stiffness and a driving stiffness of the n-th wheel.

2 . The driving force control device according to claim 1 , further configured to:

acquire a detection value or an estimated value of a load applied to each wheel, and

set the driving force to be generated in the at least one pair of drive wheels, based on a value obtained by distributing the driver required driving force in proportion to a load applied to each of the wheels and the calculated value.

3 . The driving force control device according to claim 1 , wherein the coefficient is a value between the cornering stiffness and the driving stiffness.

4 . The driving force control device according to claim 1 , wherein the driving stiffness is set on the basis of a load applied to each wheel and a slip ratio.