Control device

A control device for a vehicle including two drive devices, a first speed reducer, and a second speed reducer, the first speed reducer transmitting the torque of one of the two drive devices to an output shaft, the second speed reducer transmitting the torque of the other drive device to the output shaft at a reduction ratio different from the reduction ratio of the first speed reducer, the control device comprising:

• a torque control section that, based on a target torque, controls the torques outputted from the two drive devices;
• wherein the torque control section includes a limiting section for controlling the torques that are outputted from the two drive devices when the sign of the target torque changes from a first sign to a second sign;
• and
• wherein, while allowing one of the two drive devices to output a torque for reducing the backlash of the first speed reducer or second speed reducer, the limiting section allows the other drive device to output a torque based on the target torque.