Vehicle

Abstract

A vehicle includes a speed detector that detects a traveling speed of the vehicle in a horizontal direction, a yaw rate detector that detects a yaw rate about a vertical direction of the vehicle, a driving source, and a left driving wheel and a right driving wheel to which a driving force from the driving source is transmitted, and that rotate independently from each other. The vehicle further includes a control circuit including a rotational speed estimator that estimates an actual rotational speed of the left driving wheel and an actual rotational speed of the right driving wheel, on the basis of the traveling speed detected by the speed detector, and the yaw rate detected by the yaw rate detector. The speed detector is a position information obtainer that obtains position information of at least two different locations of the vehicle in the horizontal direction. The yaw rate detector is an Inertial Measurement Unit that detects an angular acceleration about the vertical direction of the vehicle.