| 主权项 |
1. A vehicle control apparatus comprising:
braking-driving force generation mechanisms provided at respective wheels of a vehicle, each of the braking-driving force generation mechanisms configured to generate a driving force to be applied to a corresponding one of the wheels or a regenerative braking force to be applied to the corresponding one of the wheels; friction braking mechanisms provided at the respective wheels, each of the friction braking mechanisms configured to apply a frictional braking force to a corresponding one of the wheels; and a controller configured to control the braking-driving force generation mechanisms and the friction braking mechanisms, wherein the controller is configured to:
calculate a required braking force;calculate a ratio between the regenerative braking force and the frictional braking force in the required braking force to be applied to each of the wheels, based on the required braking force;calculate a vehicle motion control force for causing each of the braking-driving force generation mechanisms to generate the driving force or the regenerative braking force, the vehicle motion control force being a control force for executing vehicle motion control for controlling a motion of the vehicle; andchange the ratio between the regenerative braking force and the frictional braking force, in a specific wheel among the wheels, such that the ratio in the specific wheel differs from the ratio between the regenerative braking force and the frictional braking force in each of the other wheels, when a command to generate the require braking force is issued and the vehicle motion control is executed. |
