Vehicle drive apparatus

摘要

A vehicle drive apparatus (100) independently controls drive forces for a front-right drive wheel (2r), a front-left drive wheel (21), a rear-right drive wheel (3r), and a rear-left drive wheel (31) using a front-right electric motor (10r), a front-left electric motor (101), a rear-right electric motor (11r), and a rear-left electric motor (111), respectively. The drive forces for the drive wheels of a vehicle (1) incorporating the vehicle drive apparatus (100) are determined based on the target moments in the yaw and roll directions of the vehicle (1), the total drive for the drive wheels, and the drive reaction forces at the drive wheels. Thus, the performance desired by the driver can be achieved, and the drivability therefore improves accordingly.