| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle behavior control unit that controls a behavior, which occurs in relation to a vehicle body, by suppressing occurrence of an unnecessary fore-and-aft motion.SOLUTION: A vehicle Ve includes six wheels of left and right front wheels FW1 and FW2, left and right middle wheels MW1 and MW2, and left and right rear wheels RW1 and RW2, and has in-wheel motors 21 to 26 incorporated in the respective wheels. An electronic control unit 41 computes a target heave force and target pitch moment, with which a heaving behavior and pitching behavior respectively are controlled, using a motion state of a vehicle body Bo acquired from a motion state detection sensor 43. The unit 41 computes driving forces or braking forces for the front wheels FW1 and FW2 and rear wheels RW1 and RW2 so as to realize the computed target heave force and target pitch moment, and computes a driving force or braking force for the middle wheels MW1 and MW2 so as to control a fore-and-aft motion which occurs by independently (concurrently) controlling the behaviors that occur relationally. |
