Control system for vehicle

A control system for a vehicle provided with a differential mechanism that applies a torque difference to left and right wheels and two electric motors coupled to the differential mechanism, the control system comprising:

• two control units being connected to each other via high-speed communication means and each controlling one of the two electric motors;
• a first rotation speed sensor that detects a first rotation speed of a first electric motor of the two electric motors and outputs the first rotation speed to the two control units;
• a second rotation speed sensor that detects a second rotation speed of a second electric motor of the two electric motors and outputs the second rotation speed to the two control units;
• and
• a superordinate control unit that calculates demanded torques of the two electric motors based on vehicle information of the vehicle, wherein
• at least a first control unit of the two control units calculates two assigned torques to achieve the demanded torques calculated in the superordinate control unit based on a detection signal of the first rotation speed sensor and a detection signal of the second rotation speed sensor,
• the first control unit calculates the two assigned torques based on the two detection signals, controls the first electric motor using a first assigned torque of the two assigned torques, and transmits the first assigned torque and a second assigned torque of the two assigned torques to a second control unit of the two control units via the high-speed communication means, and
• the second control unit calculates the two assigned torques based on the two detection signals and carries out fail monitoring by comparing the first assigned torque calculated therein and the first assigned torque received from the first control unit and carries out fail monitoring by comparing the second assigned torque calculated therein and the second assigned torque received from the first control unit.