Wheel brake/drive force control device

摘要

When a wheel target brake/drive force and a target yaw moment cannot be achieved by the brake/drive force which can be generated by each wheel, a brake/drive force and a yaw moment required for the wheels are achieved within a range of the brake/drive force which can be generated by the front wheels and the rear wheels. The target brake/drive force Fvn and the target yaw moment Mvn of all the wheels are calculated. When the target brake/drive force Fvn and the target yaw moment Mvn cannot be achieved by the brake/drive force of the front wheels, the target brake/drive force Fvft and the target yaw moment Mvft of the front wheels are adjusted so that the vehicle brake/drive force and the yaw moment by the brake/drive force of the front wheels based by the ratio between Fvn and Mvn are maximum. According to Fvn, Mvn, Fvft and Mvft, the targets brake/drive force Fvrt and the target yaw moment Mvrt of the rear wheels are calculated and the similar adjustment is performed on them if necessary.