DEVICE AND METHOD FOR CONTROLLING BRAKING/DRIVING FORCE

摘要

PROBLEM TO BE SOLVED: To more appropriately control the vibration of a vehicle body depending on a steering state using a braking/driving force.

SOLUTION: A device for controlling the braking/driving force includes: a behavior estimation means for estimating the behavior of a vehicle body on springs based on the driving conditions of the vehicle; a weight stabilizing compensation torque calculation means for calculating weight stabilizing compensation torque to stabilize the weight of the vehicle depending on the estimated behavior of the vehicle body on the springs; a weight adding compensation torque calculation means for calculating weight adding compensation torque to add the weight of the vehicle depending on the estimated behavior of the vehicle body on the springs; a hunting determination means for determining whether hunting occurs in controlling the compensation of braking/driving torque based on the weight stabilizing compensation torque and the weight adding compensation torque; and a movement gain calculation means for calculating a movement gain that determines the degree for providing the weight stabilizing compensation torque and the weight adding compensation torque based on the steering state of the vehicle and the result of determined by the hunting determination means.

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