| 摘要 |
PROBLEM TO BE SOLVED: To greatly improve a turning performance by suitably executing control according to a side-slip angle and control according to a ground load based on a road surface condition.SOLUTION: A vehicle control device 200 according to the present invention includes a side-slip angle calculation part 230 for obtaining the side-slip angle of each wheel, a first torque correction coefficient calculation part 252 for calculating the first torque correction coefficient of each wheel based on the side-slip angle, a ground load estimation part 240 for estimating the ground load of each wheel, a second torque coefficient correction calculation part 254 for calculating the second torque correction coefficient of each wheel based on the ground load, a torque correction gain calculation part 256 for calculating the torque correction coefficient of each wheel from the first and second torque correction coefficients by increasing the distribution of the first torque correction coefficient when a friction coefficient is small and increasing the distribution of the second torque correction coefficient when the friction coefficient is large based on a parameter indicating the friction coefficient of a road surface, and a correction processing part 260 for correcting the driving target torque of each wheel based on the torque correction coefficient.SELECTED DRAWING: Figure 3 |
