Vehicle

A vehicle comprising:

• a vehicle body;
• N (N is an integer equal to or larger than 2) wheels including one or more front wheels and one or more rear wheels, the N wheels including one or more turn wheels turnable in a width direction of the vehicle;
• a force generator configured to generate a force which changes a yaw angular acceleration;
• and
• a force controller configured to control the force generator, wherein:
• a gravity center of the vehicle body is located away from a rotation center of the vehicle toward front side or rear side when the vehicle turns, and
• the force controller controls the force generator to control a roll torque in the width direction acting on the vehicle body,
• the force generator is configured to apply a turning torque on the one or more turn wheels, the turning torque being a torque for controlling a turn of the one or more turn wheels in the width direction,
• a roll torque resulting from a component of yaw angular acceleration resulting from a turn of the one or more turn wheels and a positional difference between the gravity center and the rotation center is referred to as first type roll torque, and
• the force controller is configured to:
• determine reference information indicating a reference direction as a reference of direction and a reference magnitude as a reference of magnitude for the first type roll torque to act on the vehicle body;
• control the force generator so that the direction of the first type roll torque is the same as the reference direction and a magnitude of an additional angular velocity increases with an increase in the reference magnitude when a vehicle velocity is constant and an angle of a turn of the one or more turn wheels is constant, the additional angular velocity being an additional angular velocity of the turn of the one or more turn wheels by applying of the turning torque;
• and
• control the force generator so that the direction of the first type roll torque is the same as the reference direction and the magnitude of the additional angular velocity decreases with an increase in the vehicle velocity when the reference magnitude is constant and the angle of the turn of the one or more turn wheels is constant.