Control system for vehicle

A control system for a vehicle, comprising:

• a drive shaft in which one end thereof is joined to a wheel;
• a motor that applies a torque to the drive shaft;
• and
• a parking lock mechanism that stops a rotation of a predetermined rotary member arranged between the motor and the drive shaft by locking the rotary member, and that allows the rotary member to rotate by releasing the rotary member;
• the control system comprising:
• a controller that controls the motor,
• wherein the controller comprises:
• a first inclination angle determiner configured to determine whether an inclination angle of the vehicle in the pitching direction at a point when the rotary member is locked by the parking lock mechanism is equal to or greater than a first predetermined angle;
• a torsion determiner configured to determine whether the drive shaft is twisted after locking the rotary member by the parking lock mechanism;
• a second inclination angle determiner configured to determine whether the inclination angle of the vehicle in the pitching direction at a point when the rotary member is released by the parking lock mechanism is equal to or greater than a second predetermined angle;
• and
• a motor controller configured to control the motor to generate an assist torque in a direction to counteract the torsional torque acting on the drive shaft, in a situation where:
• the inclination angle of the vehicle in the pitching direction at the point when the rotary member was locked by the parking lock mechanism is equal to or greater than the first predetermined angle;
• torsion of the drive shaft is determined;
• and
• the inclination angle of the vehicle in the pitching direction at the point when the rotary member is released by the parking lock mechanism is equal to or greater than the second predetermined angle.