Driving system

A driving system used for controlling torque output to a first shaft and a second shaft, comprising:

• a first speed sensor configured to measure a rotation speed of the first shaft;
• a second speed sensor configured to measure a rotation speed of the second shaft;
• a first output device drivingly coupled to the first shaft;
• a second output device drivingly coupled to the second shaft;
• and
• an electronic control unit electrically connected to the first and second speed sensors and the first and second output devices and including a storage unit storing one or more values of differential torque ratios, the electronic control unit being configured to fetch a target torque value, determine a difference in rotation speed of the first shaft from the second shaft, determine a sign from the determined difference in rotation speed and the target torque value, fetch a value of differential torque ratio from the storage unit, calculate from the fetched value of differential torque ratio and the determined sign a first distribution ratio in which the torque is to be distributed to the first shaft and a second distribution ratio in which the torque is to be distributed to the second shaft, and perform control to cause the first output device to output torque obtained by multiplying the calculated first distribution ratio by the target torque value and cause the second output device to output torque obtained by multiplying the calculated second distribution ratio by the target torque value.