VEHICLE CONTROL DEVICE

摘要

An actual vehicle actuator operation control input and a model operation control input are determined by an FB distribution law 20 such that the difference between a reference state amount determined in a vehicle model 16 and an actual state amount of an actual vehicle 1 (a state amount error) approximates zero, and then an actuator device 3 of the actual vehicle 1 and the vehicle model 16, respectively, are operated on the basis of the control inputs. The value of a parameter of the vehicle model 16 is variably set according to a motional state of the actual vehicle 1 such that the attenuation property of a reference state amount when a drive manipulated variable (a steering angle) is changed in steps is higher than the attenuation property of an actual state amount. With this arrangement, the actuator device 3 of the actual vehicle 1 is properly controlled independently of a motional state of the actual vehicle 1 such that a state amount related to a motion of the actual vehicle (an actual state amount) approximates a vehicle state amount (reference state amount) on a dynamic characteristic model (the vehicle model 16).