| 摘要 |
Control means (10) for controlling operations of actuators (3A, 3B, 3C) of a vehicle (1) creates time series of future behavior of the vehicle (1) by using a vehicle model (41). Here, a state amount of the vehicle model (41) is initialized according tot he state amount of the actual vehicle (1) and the future behavior is created starting from the initial state amount. The future behavior is created by matching the operation instruction of the actuators in the vehicle model (41) at the current time with a basic value based on the operation of an operator (5) such as a steering wheel of the vehicle (1). It is judged whether evaluation objects such as the vehicle movement, the road surface reaction force, and wheel sliding in the created future behavior satisfy predetermined conditions. According to the evaluation results, operation instructions of the actuators (3A, 3B, 3C) are successively decided. Thus, it is possible to appropriately predict the future behavior of the vehicle and enable appropriate travel of the vehicle.
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