Vehicle control device and vehicle control method

A vehicle control device according to one embodiment of the present disclosure is provided with a control means capable of deriving a target torque by adding a fluctuating torque that fluctuates periodically to a request torque corresponding to an acceleration request, and controlling a torque of a motor on the basis of the derived target torque. The control unit is capable of changing at least one of a fluctuation range, a period, and a waveform of the fluctuation torque based on any one of a speed of the vehicle, a front-rear acceleration, a vehicle body slip angular velocity, a self-aligning torque, a road surface friction coefficient, a turning state, and a torsional resonance frequency of tires of the vehicle. 本公开的一个实施方式的车辆控制装置具备控制单元，该控制单元能够通过对与加速度请求对应的请求扭矩附加周期性波动的波动扭矩来导出目标扭矩，并基于所导出的目标扭矩来控制马达的扭矩。该控制单元能够基于车辆的速度、前后加速度、车身滑移角速度、自回正扭矩、路面摩擦系数、转弯状态以及车辆的轮胎的扭转共振频率中的任一者，改变波动扭矩的波动幅度、周期以及波形中的至少一者。