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 parking determiner configured to determine that the rotary member is locked by the parking lock mechanism;
• a predictor configured to predict that the rotary member being locked by the parking lock mechanism will be released by the parking lock mechanism;
• a torsional torque estimator configured to estimate a torsional torque acting on the drive shaft;
• a motor control starter configured to control the motor to start generation of a torque counteracting the estimated torsional torque whose magnitude is equal to the estimated torsional torque or smaller, when the predictor predicts that the rotary member being locked by the parking lock mechanism will be released by the parking lock mechanism;
• and
• a motor control terminator configured to terminate the torque generation by the motor when the motor generating the torque starts rotating.