Vehicle driving system

A vehicle driving system having a vehicle attitude control function, the vehicle driving system comprising:

• a rotating electric machine that drives a front wheel of a vehicle or applies a regenerative torque to the front wheel;
• a battery that supplies electric power to the rotating electric machine and stores electric power regenerated by the rotating electric machine;
• a steering apparatus for steering the vehicle;
• a steering angle sensor for detecting a steering angle achieved by the steering apparatus;
• a brake actuator configured to apply a friction braking force to each of wheels of the vehicle;
• a friction braking force sensor that detects the friction braking force produced by the brake actuator;
• and
• a controller configured to execute vehicle attitude control that sets a deceleration torque based on a steering speed detected by the steering angle sensor and controls the rotating electric machine such that the deceleration torque is applied to the front wheel of the vehicle, wherein
• when the friction braking force is applied to each of the wheels by the brake actuator during execution of the vehicle attitude control, the controller corrects the deceleration torque by increasing the deceleration torque as the friction braking force detected by the friction braking force sensor increases,
• when the friction braking force is not applied to each of the wheels by the brake actuator during execution of the vehicle attitude control, the controller does not perform the deceleration torque correction,
• during non-execution of the vehicle attitude control, the controller executes electric power regeneration via the rotating electric machine within a range of a predetermined regeneration amount that is less than an upper limit value of a regeneration amount that is configured to be received by the battery,
• the upper limit value of the regeneration amount is a substantially constant value when an electric storage amount of the battery is equal or less than a prescribed electric storage amount, and
• the upper limit value of the regeneration amount decreases as the electric storage amount increases when the electric storage amount of the battery exceeds the prescribed electric storage amount.