Driving force transmission controller and vehicle control method

A driving force transmission controller comprising:

• a normal turning control unit that computes driving force transmission command values such that driving force transmitted to an outer wheel in a turning direction, out of right and left rear wheels, is larger than driving force transmitted to an inner wheel in the turning direction, out of the right and left rear wheels, during normal turning in which the turning direction of a vehicle is the same as a steered direction of front wheels;
• a counter-steering control unit that estimates the turning direction based on a slip angle and computes the driving force transmission command values such that the driving force transmitted to the outer wheel in the estimated turning direction is larger than the driving force transmitted to the inner wheel in the estimated turning direction during counter-steering in which the turning direction of the vehicle is opposite to the steered direction of the front wheels;
• a counter-steering return control unit that corrects the driving force transmission command values such that a rate of change in each of the driving forces transmitted to the right and left rear wheels is lower than a rate of change in a steered angle of the front wheels when a steering wheel is operated in a returning direction at a velocity equal to or higher than a prescribed value during the counter-steering;
• and
• a driving force transmission control unit that controls a driving force transmission device to transmit driving force generated by a drive source of the vehicle to the right and left rear wheels such that a ratio between driving force transmitted to the right rear wheel and driving force transmitted to the left rear wheel is variable based on the driving force transmission command values.