DRIVE CONTROL DEVICE WITH TRACTION CONTROL FUNCTION FOR RIGHT-LEFT INDEPENDENT DRIVE VEHICLE

Traction control unit interposed between torque allocation unit and torque control unit for left and right wheels and each configured to inhibit a slip of the drive wheel during acceleration or deceleration are provided. A longitudinal force estimation unit for estimating longitudinal forces acting on the respective left and right wheels and longitudinal force coincidence control unit are provided. The longitudinal force coincidence control unit compares absolute values of the longitudinal forces on the left and right wheels estimated by the longitudinal force estimation unit, and provides a driving torque command that generates a longitudinal force equal to the longitudinal force whose absolute value is smaller, to the torque control unit for the drive wheel at which the absolute value is larger.