| 摘要 |
<p>A vehicle attitude control apparatus has suspensions Sfl, Srl, Sfr, and Srr that suspend each of front-left, rear-left, front-right and rear-right wheels Wfl, Wrl, Wfr, and Wrr; electric motors 21, 22, 23 and 24 that independently drive each of four wheels; lateral acceleration sensor 31; and controller 32. The controller 32 calculates the roll angle and roll direction of a vehicle body BD by using the detected lateral acceleration. Further, the controller 32 increases or decreases the driving torques generated by the electric motors 21 to 24 by a driving torque changing amount in accordance with the calculated roll angle and roll direction. With the increase or decrease in the driving torques generated by the electric motors 21 to 24 by the driving torque changing amount, downward force is generated on the vehicle body moving up upon the vehicle roll (at respective instant centers determined by the suspensions at the side where the vehicle body moves up), and upward force is generated on the vehicle body moving down upon the vehicle roll (at respective instant centers determined by the suspensions at the side where the vehicle body moves down).</p> |
