| 摘要 |
To provide a new vehicle control technique, a calculation section calculates a cornering power ka using the detected longitudinal force Fx, lateral force Fy, and vertical force Fz, and the identified friction coefficient mu. This calculation is made based on the correlation between a slip angle beta of the wheels and the lateral force Fy. Based on thus calculated cornering power ka and a target cornering power ka' required for the wheels, a processing section determines a change amount for changing at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels. Based on thus determined change amount, a control section controls at least one action force out of the longitudinal force Fx, the lateral force Fy, and the vertical force Fz, all acting on the wheels.
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