WHEEL CONTROL DEVICE, VEHICLE, WHEEL CONTROL METHOD

摘要

A wheel control device for controlling a plurality of wheels (11 - 14) provided on a vehicle (10) includes a controller (110) which performs feedback control of motors (21 - 24) provided on each wheel to drive each of the plurality of wheels (11 - 14) so that the drive torque of the motors (21 - 24) follows a target torque. The motors are provided on each of the plurality of wheels (11 - 14) to drive each wheel. Among the plurality of wheels (11 - 14) the controller (110) reduces the feedback control amount for the motor driving the target wheel that received a prescribed road surface input to a lower level than the feedback control amount before the target wheel received the prescribed road surface input.