| 摘要 |
A control apparatus (100) for controlling a vehicle (10) which is provided with a braking / driving force varying device (300, 600) capable of individually changing a braking / driving force acting on each of wheels (FL, FR, RL, RR) with respect to the each wheel, is provided with: a target state quantity setting device for setting a target state quantity (Ytg) corresponding to a target motion state of the vehicle; and a target braking / driving force setting device for setting a target braking / driving force, which is a target value of the braking / driving force, such that a state quantity (Y) corresponding to the target state quantity and a steering reaction force (T) transmitted to a steering apparatus from the wheel are the set target state quantity and a predetermined target steering reaction force (Ttg), respectively, on the basis of a relative relation, which is set in advance, between the state quantity and the steering reaction force, and a left-right braking / driving force difference (Ff) of front wheels and a braking / driving force difference (Fr) of rear wheels. |
