To surely suppress the vibration of a vehicle irrespective of the change of an object to be controlled such as the change of a change gear ratio.
This drive force control device comprises: a fundamental torque command value operation part 101 that operates a motor fundamental torque command value and an engine fundamental torque command value, respectively, on the basis of an operation state; a norm value operation part 110 that operates a norm value of a drive wheel rotational speed correlation value with the motor fundamental torque command value and an actual change gear ratio as inputs; a drive wheel rotational speed correlation value difference operation part 108 that operates the difference of the norm value and an actual value; a torque compensation value operation part 104 that operates a compensation value of the motor fundamental torque command value on the basis of a compensation constant with the difference as an input; a final torque command value operation part 107 that compensates the motor fundamental torque command value by using the compensation value, and calculates a final command value; and a compensation characteristic setting part 106 that sets the compensation constant of the torque compensation value operation part on the basis of an element that varies in accordance with a traveling state so that a preset characteristic is satisfied by using a gain schedule method.
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ASHIZAWA HIROYUKI
NAKAMURA HIDEO
Yoshio Matsuda
Yasunari Mita
Masaaki Iida