| 摘要 |
A vehicle target braking/driving force and a vehicle target yaw moment to be achieved by a control of braking/driving force of each wheel are-calculated. The target yaw moment is corrected, for example, so as to coincide with the product of the correction coefficient determined based upon, the weight of the whole vehicle, the longitudinal and lateral distribution ratios of wheel vertical loads, and vehicle turning direction, and the target yaw moment, whereby the target yaw moment is corrected in accordance with the weight of the whole vehicle, the position of center of gravity of the whole vehicle, and vehicle turning direction. The final target braking/driving force and target yaw moment that can be achieved by the control of the braking/driving force of each wheel are calculated on the basis of the target braking/driving force and the target yaw moment after the correction, and the braking/driving force of each wheel is controlled so as to achieve the final target braking/driving force and target yaw moment.
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