| 摘要 |
<p>A control means 10 for controlling operations of actuators 3A, 3B, and 3C of a vehicle 1 creates a time series of a future behavior of the vehicle 1 by using a vehicle model 41. At this time, a state amount of the vehicle model 41 is initialized on the basis of a state amount of the actual vehicle 1, and the future behavior is created starting from the initial state amount. The future behavior is created such that operation commands of the actuators in the vehicle model 41 at the current time coincide with or approximate to basic values based on an operation of a manipulating device 5, such as a steering wheel of the vehicle 1. It is evaluated whether evaluation objects, such as a vehicle motion, a road surface reaction force, and wheel sliding, in the created future behavior satisfy predetermined restrictive conditions. Based on the evaluation result, the operation commands of the actuators 3A, 3B, and 3C are successively decided. This permits an ideal travel of the vehicle to be achieved by properly predicting future behaviors of the vehicle.</p> |
