Vehicle control device and vehicle control method

A vehicle control method comprising:

• determining a slip of each of wheels;
• calculating a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and changing the base distribution ratio on the basis of a result of the slip determination when the slip is detected;
• decreasing the base distribution torque on the basis of the result of the slip determination in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed;
• and
• redistributing a torque down amount of the slipping wheel that is slipping to the base distribution torque of non-slipping wheels that are not slipping.

A vehicle control device comprising

• circuitry configured to
• determine a slip of each of a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel;
• calculate a base distribution torque to be distributed to the front and rear wheels on the basis of requested torques and a base distribution ratio of torques between the front and rear wheels, and change the base distribution ratio on the basis of a result of the slip determination when the slip is detected;
• decrease the base distribution torque on the basis of the result of the slip determination in a manner that a rotation speed of a slipping wheel that is slipping becomes equal to a target rotation speed;
• and
• redistribute a torque down amount of the slipping wheel that is slipping to the base distribution torque of non-slipping wheels that are not slipping.