| 摘要 |
PROBLEM TO BE SOLVED: To increase the running stability of a vehicle when executing control by which a plurality of wheels are made to generate different driving forces. SOLUTION: A maximum driving force that can be generated at each of a plurality of wheels generating driving forces is calculated (step S101). An adjustment frame is created using a maximum driving force and a maximum yaw moment which can be generated at front and rear wheels and which are calculated based on the maximum driving force (step S103). If the driving force required and the yaw moment required are within the adjustment frame (step S106: Yes), the form of the adjustment frame is modified so that the driving force required and the yaw moment required are on the adjustment frame (step S106). Using the adjustment frame whose form has been modified, the driving force of each wheel is calculated (step S108). COPYRIGHT: (C)2009,JPO&INPIT |
