Control apparatus

A control apparatus to be applied to a vehicle, the control apparatus comprising:

• an acquiring unit including a sensor, the acquiring unit configured to acquire a first wheel speed of a first wheel of the vehicle, a second wheel speed of a second wheel of the vehicle, and a steering angle of the vehicle;
• and
• a processor communicably connected with at least the sensor, the processor configured to
• estimate a first vehicle speed at a first respective position of the first wheel and a second vehicle speed at a second respective position of the second wheel, and
• control torques of the respective first and second wheels based on at least the estimated first vehicle speed and the estimated second vehicle speed in a predetermined traveling state of the vehicle, wherein
• the processor is configured to estimate the first vehicle speed at the first respective position and the second vehicle speed at the second respective position based on (i) a minimum wheel speed among the first wheel speed of the first wheel and the second wheel speed of the second wheel, and (ii) the steering angle,
• the processor is further configured to control a slip rate of each of the respective first and second wheels, on a basis of the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, and
• the processor is configured to refrain from performing a control of the slip rate that is based on the estimated first and second vehicle speeds at the respective first and second positions of the respective first and second wheels, in a case where both of the respective first and second wheels of the vehicle involve a slip.