| 摘要 |
<p>When a vehicle Ve travels, due to an input from a road surface to the left and right front wheels 11 and 12 and left and right rear wheels 13 and 14 of the vehicle, unsprung vertical accelerations are generated in unsprung portions (including the wheels 11 to 14) of the vehicle Ve. An electronic control unit 30 detects such unsprung vertical accelerations. Subsequently, the electronic control unit 30 calculates a front-back force generated at each of the wheels 11 to 14 by use of the detected unsprung vertical acceleration, and estimates a front-back vibration generated in each of the wheels 11 to 14. Meanwhile, the electronic control unit 30 calculates a front-back vibration suppressing force for absorbing the front-back vibration by use of the detected unsprung vertical acceleration. Subsequently, the electronic control unit 30 subtracts the calculated front-back vibration suppressing force from the calculated front-back force, and operates the in-wheel motors 19 to 22 via an inverter 23, while controlling the output torques of the in-wheel motors 19 to 22. Thus, the front-back vibrations of the unsprung portions of the vehicle Ve can effectively be suppressed, whereby the riding quality of the vehicle Ve is improved.
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