VEHICULAR MOTOR DRIVE DEVICE AND VEHICLE HAVING THE SAME MOUNTED THEREON

A failure occurrence determiner may include a rotor angle measurement module that calculates a measurement value of an angular phase of a motor rotor with respect to a wheel, based on a rotational angle of the motor rotor that is detected by an angle sensor equipped to an electric motor and rotational information of the wheel that is detected by a speed sensor. It may also include a rotor angle estimation module that calculates an estimate value of the angular phase of the motor rotor with respect to the wheel, based on a motor torque command value for a motor controller. It may also include a failure determination module that determines that a failure has occurred in a motor drive device, if a difference between the measurement value and the estimate value of the angular phase of the motor rotor is equal to or greater than a threshold.