Vehicle control device and vehicle control method

A vehicle control device that controls outputs 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 vehicle control device comprising:

• a calculator that calculates an equivalent sum value corresponding to a sum of a left requested torque being a requested torque to the left driving system or the left driving source and a right requested torque being a requested torque to the right driving system or the right driving source and calculates an equivalent difference value corresponding to a difference between the left requested torque and the right requested torque;
• a sum model that models motion states of the left driving system and the right driving system while the vehicle is running straight, the equivalent sum value being applied to the sum model;
• a difference model that models motion states of the left driving system and the right driving system while the vehicle is cornering, the equivalent difference value being applied to the difference model;
• and
• a controller that controls the outputs of the left driving source and the right driving source, using a sum-mode instruction torque obtained by applying the equivalent sum value to the sum model and a difference-mode instruction torque obtained by applying the equivalent difference value to the difference model.