Method and vehicle control device

A design method for output control of a left driving source and a right driving source in a vehicle provided with a left driving system including a left axle and a left wheel and a right driving system including a right axle and a right wheel, motion power from the left driving source being transmitted to the left axle and the left wheel, motion power from the right driving source being transmitted to the right axle and the right wheel, the design method comprising:

• preparing a sum model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is running straight, and a difference model modeling motion states of the left driving system, the right driving system, the left driving source, and the right driving source while the vehicle is cornering;
• calculating an equivalent sum value corresponding to a sum of a left-axle input/output including an input parameter or an output parameter of the left driving system and a right-axle input/output including an input parameter or an output parameter of the right driving system, and an equivalent difference value corresponding to a difference between the left-axle input/output and the right-axle input/output;
• grasping motion states of the left driving system and the right driving system while the vehicle is running straight by applying the equivalent sum value to the sum model;
• and
• grasping motion states of the left driving system and the right driving system while the vehicle is cornering by applying the equivalent difference value to the difference model.