Vehicle control device

A vehicle control device, comprising:

• a first drive unit configured to output a first drive torque to a first drive wheel;
• a second drive unit configured to output a second drive torque to a second drive wheel;
• and
• a control unit configured to
• obtain information relating to a drive state of a vehicle from a sensor group including at least an accelerator sensor and a brake sensor;
• calculate a requirement torque required by a driver of the vehicle based on the obtained information relating to the drive state of the vehicle;
• compute, after the calculation of the requirement torque;
• a first target torque relating to the first drive torque distributed based on the requirement torque,
• a second target torque relating to the second drive torque distributed based on the requirement torque, and
• an ideal change rate of a total torque of the first drive torque and the second drive torque in a first term from a first time point in which the driver performs an acceleration operation or a brake operation to a second time point in which the total torque reaches the requirement torque;
• and
• at least control a magnitude of the first drive torque outputted from the first drive unit in the first term and a magnitude of the second drive torque outputted from the second drive unit in the first term, wherein
• in a case where the drive state of the vehicle shifts from a first drive state to a second drive state, the first drive state where the first drive torque and the second drive torque including a same sign of one of positivity and negativity are outputted at the first time point, the second drive state where the first drive torque including an opposite sign of the first drive torque in the first drive state and reaching the first target torque and the second torque including the opposite sign of the second drive torque in the first drive state and reaching the second target torque are outputted at the second time point,
• the control unit is configured to
• control the first drive unit to operate a first zero-cross process which makes a change rate of the first drive torque be equal to or smaller than a predetermined value in a case where the first drive torque is within a predetermined range including zero when the negativity and the positivity of the first drive torque switches through zero;
• and
• control the second drive unit to operate a second zero-cross process after the first zero-cross process ends, the second-zero process which makes a change rate of the second drive torque be equal to or smaller than the predetermined value in a case where the second drive torque is within the predetermined range when the negativity and the positivity of the second drive torque switches through zero.