Embodiments of the invention provide a computer program product embodied on a computer readable storage medium. The computer program product is encoded with instructions configured to control a controller to perform a process. The process includes setting a target steering angle for the vehicle based on a steering amount of the vehicle, setting a target torque difference between right and left steered wheels based on the target steering angle, and setting a target driving/braking force for the vehicle based on an acceleration amount and a braking amount of the vehicle. The process also includes setting each target torque for the right and left steered wheels based on the target torque difference and the target driving/braking force and controlling driving of the steered-wheel motors based on the target torque. The kingpin point is positioned closer to the vehicle on an inside portion of an inside sidewall of a steered wheel.
