| 摘要 |
PROBLEM TO BE SOLVED: To appropriately control the motion of an actual vehicle to a desired motion by appropriately manipulating a road surface reaction force acting on the front wheel of the vehicle and a road surface reaction force acting on a rear wheel. SOLUTION: A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is a difference between the state amount of the motion of an actual vehicle 1 and a reference state amount, and a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, the ratio (gain) of a change in Fxfbdmd_n of a front wheel and a rear wheel, respectively, of a particular set with respect to a change in the basic required manipulated variable Mfbdmd_a is made to change on the basis of front wheel side gain adjustment parameters and rear wheel side gain adjustments such as sideslipping anglesβf_act,βr_act or the like. COPYRIGHT: (C)2009,JPO&INPIT
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