Control device

A control device comprising:

• a torque controller configured to control a torque of a motor that outputs a driving force for traveling of a vehicle;
• a first vehicle speed acquirer configured to acquire a first vehicle speed based on a speed of wheels of the vehicle;
• a second vehicle speed acquirer configured to acquire a second vehicle speed based on a torque output by the motor;
• and
• a reference vehicle speed setter configured to set a reference vehicle speed on the basis of either or both of the first vehicle speed and the second vehicle speed,
• wherein the torque controller determines a torque of the motor on the basis of either or both of the first vehicle speed and the second vehicle speed,
• the torque controller determines a torque of the motor such that a difference between the reference vehicle speed and the first vehicle speed or the second vehicle speed is small, and
• the reference vehicle speed setter sets the reference vehicle speed on the basis of a speed difference adjustment coefficient that adjusts a difference between the reference vehicle speed and the first vehicle speed or a difference between the reference vehicle speed and the second vehicle speed, and sets the speed difference adjustment coefficient such that, as the vehicle speed increases, the difference between the reference vehicle speed and the first vehicle speed decreases and the difference between the reference vehicle speed and the second vehicle speed increases,
• wherein the reference vehicle speed setter sets the speed difference adjustment coefficient such that the difference between the reference vehicle speed and the second vehicle speed is minimized when the vehicle speed of the vehicle is a first threshold value, and the difference between the reference vehicle speed and the first vehicle speed is minimized when the vehicle speed of the vehicle is a second threshold value that is larger than the first threshold value, and
• wherein the first vehicle speed is acquired from driven wheels,
• the second vehicle speed is acquired from driving wheels connected to the motor,
• the torque controller determines a torque of the motor in a first period,
• the first vehicle speed acquirer calculates the first vehicle speed in a second period longer than the first period, and
• the torque controller determines a torque of the motor on the basis of a speed ratio of the driving wheels to the driven wheels when a vehicle speed of the vehicle is equal to or higher than a third threshold value larger than the second threshold value.