To effectively reduce transient torque steering caused by characteristics of a drive shaft by means of simple equipment.
Based on power source state quantity detected by a power source state detection means M3, and on a transmission ratio detected by a transmission state detection means M4, drive force to be inputted to the drive shaft is computed (M5), and time-based variation of the drive force is computed (M7). In accordance with the drive force and the drive force variation, torque steering reducing torque is provided to reduce torque steering generated at steering wheels for torque steering reducing control. Transient torque steering caused by drive force difference between the right side and the left side due to differential torsional rigidity of the drive shaft is thus reduced as well as stationary torque steering.
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KODAMA HIROYUKI
ASANO KENJI
KATO HIRAHISA
