| 摘要 |
PROBLEM TO BE SOLVED: To maintain controllability and stability at a high level even when abnormality occurs in a target value of a load movement amount of front and rear wheels, and a traveling resistance disturbance.SOLUTION: A basis request torque calculation section 11 calculates a basic request torque, and a target load movement amount calculation section 19 calculates a target load movement amount &Dgr;. Furthermore, a spring upper vibration model computing section 121 estimates a load movement amount yof a vehicle, and a traveling resistance disturbance estimation section 14 estimates a traveling resistance disturbance of the vehicle. Then, a vibration control correction section 20 corrects the basic request torque so that the load movement amount yfollows the target load movement amount &Dgr; and restrains influences on the vehicle due to the traveling resistance disturbance. A limit section 156 limits contribution of the target load movement amount &Dgr; when the vibration control correction section 20 corrects the basic request torque if abnormality occurs in the target load movement amount &Dgr;. A limit section 22 limits contribution of the traveling resistance disturbance when the vibration control correction section 20 corrects a basis request torque T if abnormality occurs in the traveling resistance disturbance. |
