| 摘要 |
When various automatic steering is performed, a steering reaction transmitted from steered wheels is suppressed without making it interfere with a driver's steering input. A control apparatus (100) for controlling a vehicle (10), the vehicle provided with: a tire steer angle varying device (400, 800) capable of changing a tire steer angle of at least one wheel of front wheels and rear wheels independently of a driver's operation for promoting a change in the tire steer angle; and a braking/driving force varying device (300, 600) capable of changing a left-right braking/driving force difference of the at least one wheel is provided with: a setting device for setting a target value of a vehicle state quantity for defining a target motion state of the vehicle; and a determining device for determining a target value of the tire steer angle of the front wheels or the rear wheels and target values of left-right braking/driving forces of the front wheels or the rear wheels such that the vehicle state quantity has the set target value and such that a steering reaction torque has a predetermined target value, on the basis of a relative relation between: the steering reaction toque and the vehicle state quantity; and the tire steer angle and the left-right braking/driving force difference.
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