VEHICLE CONTROL DEVICE

摘要

An FB distribution rule (20) decides an actual actuator operation control input and a vehicle model operation control input so that a difference (state amount difference) between a regulated state amount decided by a vehicle model (16) and an actual state amount of an actual vehicle (1) approaches 0 and the actuator device (3) of the actual vehicle (1) and the vehicle model (16) are operated according to the control inputs. In the FB distribution rule (20), when the actual vehicle side feedback requirement amount based on the state amount difference exists in a non-detectable band, the actual vehicle actuator operation control input is decided by using the required amount as a predetermined value. The vehicle model operation control input is decided so that the state amount difference approaches 0 without depending on whether the actual vehicle side feedback requirement amount exists in the non-detectable band. Thus, it is possible to increase the linearity of the control system, performs actuator operation control appropriate for the actual vehicle behavior, and increase the robust feature against an external turbulence or its change.