Vehicle
A vehicle is equipped with a rotational velocity acquisition unit that acquires a rotational velocity of a rotary electric machine that imparts a steering force or a steering additive force to a steering system. A drive control device controls a left and right driving force difference by a driving device on the basis of a rotational velocity of the rotary electric machine.
1. A vehicle comprising:
a driving device configured to control a left and right driving force difference, which is a difference between a left driving force and a right driving force, by controlling the left driving force and the right driving force, the left driving force being a driving force of a left wheel of the vehicle, the right driving force being a driving force of a right wheel of the vehicle;
a drive control device configured to control the driving device; and
a rotary electric machine connected mechanically to steered wheels and configured to impart a steering force or a steering additive force to a steering system including the steered wheels;
wherein the vehicle further comprises a rotational velocity acquisition unit configured to acquire a rotational velocity of the rotary electric machine; and
the drive control device controls the left and right driving force difference by the driving device, based on the rotational velocity.
2. The vehicle according to claim 1 , wherein:
the steering system includes a steering amount acquisition unit configured to acquire a steering amount of a steering subject of the vehicle;
the rotary electric machine is arranged on a steering force transmission path more closely to the steered wheels than the steering amount acquisition unit; and
the steering force or the steering additive force is determined based on the steering amount.
3. The vehicle according to claim 1 , wherein the driving device includes a left rotary electric machine connected mechanically to the left wheel, and a right rotary electric machine connected mechanically to the right wheel.
4. The vehicle according to claim 2 , wherein the drive control device controls the left and right driving force difference by the driving device, based on the steering amount and a wheel velocity of the vehicle, in addition to the rotational velocity.
5. A vehicle comprising:
a driving device configured to control a torque of a left wheel and a torque of a right wheel, by controlling a left torque, which is a torque of a left rotary electric machine connected mechanically to the left wheel of the vehicle, and a right torque, which is a torque of a right rotary electric machine connected mechanically to the fight wheel of the vehicle;
a drive control device configured to control the driving device; and
a rotary electric machine connected mechanically to steered wheels and configured to impart a steering force or a steering additive force to a steering system including the steered wheels;
wherein the vehicle further comprises a rotational velocity acquisition unit configured to acquire a rotational velocity of the rotary electric machine; and
the drive control device controls the left torque and the right torque, based on the rotational velocity.
6. The vehicle according to claim 5 , wherein:
the steering system includes a steering amount acquisition unit configured to acquire a steering amount of a steering subject of the vehicle;
the rotary electric machine is arranged on a steering force transmission path more closely to the steered wheels than the steering amount acquisition unit; and
the steering force or the steering additive force is determined based on the steering amount.
7. The vehicle according to claim 6 , wherein the drive control device controls the left torque and the right torque by the driving device, based on the steering amount and a wheel velocity of the vehicle, in addition to the rotational velocity.