CONTROLLER FOR VEHICLE

摘要

PROBLEM TO BE SOLVED: To quickly and accurately estimate a steering reaction force transmitted from a steering wheel.SOLUTION: A unit (100) for controlling a vehicle (10) includes: a steering angle varying means (200) for changing the steering angle of at least one of a front wheel and a rear wheel; and a drive/brake force varying means (600) for changing a drive/brake force difference of the right/left wheels of at least one of the front wheel and the rear wheel. The unit is provided with: a setting means for setting a plurality of target state quantities corresponding to target motion states of the vehicle; a motion control means for controlling the steering angle varying means and the drive/brake force varying means according to a plurality of the set target state quantities so that the motion state of the vehicle can be set to the target motion state; and an estimation means for estimating the steering reaction force on the basis of a plurality of elements among the plurality of set target state quantities and the steering angle of at least one of the front wheel and the rear wheel corresponding to the set target state quantities and the driving/braking force difference of the right/left wheels of at least one of the front wheel and the rear wheel corresponding to the set target state quantities.