| 摘要 |
<p>The vehicle motion control apparatus includes a control unit 37A and sensors 2, 3, 4, 30, 31, 32, 33, etc. The actual state quantity obtaining unit 52 calculates a vehicle body actual slip angle ßz_act, etc. The reference dynamic-characteristic model calculating unit 54 calculates a reference vehicle body slip angle ßz_d, etc. by using a dynamic characteristic model. The vehicle motion control apparatus also includes a first anti-spin target yaw moment FB unit 68 which calculates a first anti-spin · target yaw moment Mc1_asp based on the vehicle body actual slip angle ßz_act and a second anti-spin target yaw moment FB unit 82 which calculates a second anti-spin · target yaw moment Mc2_asp based on a lateral acceleration Gs, a vehicle speed Vact and an actual yaw rate ³ act.</p> |
