Vehicle control apparatus and vehicle control method

A vehicle control method that controls a vehicle that travels by driving a motor, the vehicle control method comprising:

• deriving a target torque by adding, to a requested torque corresponding to an acceleration request, a fluctuation torque that fluctuates cyclically, and controlling a torque of the motor, based on the derived target torque;
• and
• changing one or more of a fluctuation range of the fluctuation torque, a cycle of the fluctuation torque, and a waveform of the fluctuation torque, based on any of a speed of the vehicle, a longitudinal acceleration of the vehicle, a vehicle body slip angular velocity of the vehicle, a self-aligning torque of the vehicle, a road surface friction coefficient, a turning state of the vehicle, and a torsional resonance frequency of a wheel of the vehicle.

A vehicle control apparatus configured to control a vehicle that travels by driving a motor, the vehicle control apparatus comprising

• circuitry configured to derive a target torque by adding, to a requested torque corresponding to an acceleration request, a fluctuation torque that fluctuates cyclically, and control a torque of the motor, based on the derived target torque, wherein
• the circuitry is configured to change one or more of a fluctuation range of the fluctuation torque, a cycle of the fluctuation torque, and a waveform of the fluctuation torque, based on any of a speed of the vehicle, a longitudinal acceleration of the vehicle, a vehicle body slip angular velocity of the vehicle, a self-aligning torque of the vehicle, a road surface friction coefficient, a turning state of the vehicle, and a torsional resonance frequency of a wheel of the vehicle.