VEHICLE CONTROL APPARATUS

A vehicle control apparatus includes a front-wheel drive system, a rear-wheel drive system, and a control system. The front-wheel drive system includes one or two front-wheel motors coupled to a front wheel. The rear-wheel drive system includes two rear-wheel motors coupled to a rear wheel. The control system controls the front-wheel drive system and the rear-wheel drive system. If a front-wheel slip rate is greater than a start threshold upon coasting, the control system executes a rear-wheel slip suppression control of reducing regenerative torque of each rear-wheel motor toward initial rear-wheel torque. If a yaw rate of the vehicle is greater than a behavior determination threshold after the rear-wheel slip suppression control has been started, the control system executes an attitude stabilization control of controlling the regenerative torque of at least one of the rear-wheel motors and thereby expanding a difference in the regenerative torque between the two rear-wheel motors.