| 摘要 |
PROBLEM TO BE SOLVED: To improve operability of a vehicle by providing a technique for controlling the moving state of the vehicle. SOLUTION: Respective elements a11-a22, composing a system matrix X used as an equation of state indicating the moving state of the vehicle, are represented as sums of linear items a11<SB>L</SB>-a22<SB>L</SB>changed due to the linearity of a wheel 6, and nonlinear items a11<SB>NL</SB>-a22<SB>NL</SB>changed due to the nonlinearity of the wheel 6. A calculating part 10a calculates a determinant ¾A<SB>NL</SB>¾ of a nonlinear matrix A<SB>NL</SB>, constituted of the nonlinear items a11<SB>NL</SB>-a22<SB>NL</SB>of respective elements a11-a22 on the basis of the system matrix X. A setting part 10b sets the desired value r* of a driving force distribution ratio r, with respect to each wheel on the basis of the calculated determinant ¾A<SB>NL</SB>¾. COPYRIGHT: (C)2006,JPO&NCIPI
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