| 摘要 |
Provided is a vehicle braking/driving force control apparatus for securing travel stability of a vehicle by priority when a slip occurs on a wheel for generating a braking/driving force while a plurality of motions are controlled. An electronic control unit identifies a slipping wheel having the maximum slip ratio (Si (i=fl, fr, rl, rr)) among wheels. The unit determines to increase or decrease a target roll moment (KmxMx) and a target pitch moment (KmyMy) for controlling a roll motion and a pitch motion, which are motions on the body in the vehicle vertical direction, so that the driving force on the slipping wheel has a direction to eliminate the slip state. The unit executes driving force distribution control so that a target longitudinal driving force (Fx) and a target yaw moment (Mz) for respectively controlling a longitudinal motion of a vehicle (Ve) and a yaw motion of a body (Bo), which are motions in vehicle longitudinal and lateral directions, and the increased/decreased moments (KmxMx, KmyMy) so as to simultaneous realize those factors. |
