Abstract: An electronic control unit determines driving force that is generated on wheels and has an identical absolute value and opposite directions to each other in order to suppress pitch behavior and/or heave behavior occurring on a vehicle body in association with travelling of a vehicle. Then, the unit controls the drive of in-wheel motors through an inverter based on the driving force. On the other hand, electronic control unit changes the damping forces of shock absorbers constituting suspension mechanisms in response to the pitch behavior and/or the heave behavior occurring on the vehicle body. In this way, by controlling one of the pitch behavior and the heave behavior that may occur in combination, enhancing of the occurrence of the other one that is not intended can be prevented effectively, and the occurrence of intended behavior on the vehicle body can be controlled independently.

Abstract: Provided is a vehicle braking/driving force control apparatus for securing travel stability of a vehicle by priority when a slip occurs on a wheel for generating a braking/driving force while a plurality of motions are controlled. An electronic control unit identifies a slipping wheel having the maximum slip ratio (Si (i=fl, fr, rl, rr)) among wheels. The unit determines to increase or decrease a target roll moment (KmxMx) and a target pitch moment (KmyMy) for controlling a roll motion and a pitch motion, which are motions on the body in the vehicle vertical direction, so that the driving force on the slipping wheel has a direction to eliminate the slip state.

Abstract: Braking/driving force control that includes: detecting a driver's operating state for causing the vehicle to run; detecting a vehicle body motional state while the vehicle is running; computing a target longitudinal driving force for causing the vehicle to run and motional state amounts for controlling a vehicle body behavior on the basis of the detected operating state and motional state; and computing driving or braking forces allocated to the wheels so as to achieve the computed target longitudinal driving force and target motional state amounts and that the braking/driving force generating mechanism causes the wheels to generate independently.

Abstract: A vehicle Ve comprises six wheels of front left and right wheels FW1 FW2, middle left and right wheels MW1, MW2, and rear left and right wheels RW1, RW2. Each of in-wheel motors 21-26 is provided/installed in each of the wheels. An electronic control unit 41 calculates a target heave force for controlling a heave behavior, and a target pitching moment My for controlling a pitching behavior, using a state of a movement of a vehicle body Bo obtained from a movement state detecting sensor 43. The unit 41 calculates a driving force and a braking force of the front wheels FW1 FW2 and the rear wheels RW1, RW2, in order to achieve the calculated target heave force and the target pitching moment, and calculates a driving force and a braking force of the middle wheels MW1, MW2 for suppressing a forward-and-backward movement of the vehicle, the movement caused by independently (simultaneously) controlling the behaviors coupling with each other.

Abstract: An electronic control unit determines driving force that is generated on wheels and has an identical absolute value and opposite directions to each other in order to suppress pitch behavior and/or heave behavior occurring on a vehicle body in association with travelling of a vehicle. Then, the unit controls the drive of in-wheel motors through an inverter based on the driving force. On the other hand, electronic control unit changes the damping forces of shock absorbers constituting suspension mechanisms in response to the pitch behavior and/or the heave behavior occurring on the vehicle body. In this way, by controlling one of the pitch behavior and the heave behavior that may occur in combination, enhancing of the occurrence of the other one that is not intended can be prevented effectively, and the occurrence of intended behavior on the vehicle body can be controlled independently.

Abstract: A vehicle includes six wheels of front left and right wheels, middle left and right wheels, and rear left and right wheels. Each of in-wheel motors is provided/installed in each of the wheels. An electronic control unit calculates a target heave force for controlling a heave behavior, and a target pitching moment for controlling a pitching behavior, using a state of a movement of a vehicle body obtained from a movement state detecting sensor. The unit calculates a driving force and a braking force of the front wheels and the rear wheels in order to achieve the calculated target heave force and the target pitching moment, and calculates a driving force and a braking force of the middle wheels for suppressing a forward-and-backward movement of the vehicle, the movement caused by independently (simultaneously) controlling the behaviors coupling with each other.

Abstract: Braking/driving force control that includes: detecting a driver's operating state for causing the vehicle to run; detecting a vehicle body motional state while the vehicle is running; computing a target longitudinal driving force for causing the vehicle to run and motional state amounts for controlling a vehicle body behavior on the basis of the detected operating state and motional state; and computing driving or braking forces allocated to the wheels so as to achieve the computed target longitudinal driving force and target motional state amounts and that the braking/driving force generating mechanism causes the wheels to generate independently.

Abstract: A vehicle steering control apparatus (10) is provided with: a steering force applying device (15, 30) for applying a steering force front wheels (5, 6); and a lateral force detecting device (42) for detecting a lateral force of each of the front wheels and rear wheels (7, 8), the steering force applying device applying, to the front wheels, a convergent steering force which steers the front wheels in a direction in which yaw oscillation converges, if a ratio of the lateral force (Fr) of the rear wheels to the lateral force (Ff) of the front wheels becomes a ratio of possibly causing the yaw oscillation in a vehicle (1).

Abstract: A vehicle steering control apparatus (10) is provided with: a steering force applying device (15, 30) for applying a steering force front wheels (5, 6); and a lateral force detecting device (42) for detecting a lateral force of each of the front wheels and rear wheels (7, 8), the steering force applying device applying, to the front wheels, a convergent steering force which steers the front wheels in a direction in which yaw oscillation converges, if a ratio of the lateral force (Fr) of the rear wheels to the lateral force (Ff) of the front wheels becomes a ratio of possibly causing the yaw oscillation in a vehicle (1).

Abstract: Provided are a yaw moment generating mechanism a which produces a yawing motion at the vehicle, a vehicle behavior detection means b which detects a vehicle behavior, an actual yaw moment detection means a which is included in the vehicle behavior detection means b and detects an actual yaw moment acting on the vehicle, a target yaw moment arithmetic-calculation means d which calculates a target yaw moment necessary for a current vehicle behavior on the basis of an input from the vehicle behavior detection means b, and an operating command means e which operates the yaw moment generating mechanism to output a yaw moment equivalent to the difference between the target yaw moment and the actual yaw moment. Therefore, during the vehicle yaw dynamics control, it is possible to enhance the control quality without the control delay and control hunting and without giving the driver an uncomfortable feeling.