| 摘要 |
<p>A control device for a vehicle is equipped with a vehicle model motion means 94 for determining a motion of a vehicle (a vehicle model motion) on a vehicle model 72 expressing the dynamic characteristics of a vehicle 1 on the basis of drive manipulated variables, such as an angle of steering by a driver, and a state amount error reaction control means 96 for determining control inputs to an actuator control means 92 of the actual vehicle 1 (a means for manipulating an actuator device 3 of an actual automobile 70) and the vehicle model motion determining means 94 according to a feedback law on the basis of a difference between a state amount of a vehicle model motion (model state amounts, such as a position or a posture of a vehicle) and a state amount of a motion of the actual vehicle 1 (a state amount error). Based on a state amount error, not only a motion of an actual vehicle but also a vehicle model motion is manipulated, thereby enhancing robustness against disturbance factors or their changes while conducting actuator operation control that is suited to a behavior of the actual vehicle as much as possible.</p> |
