To further improve the stability of a vehicle in a vehicle control apparatus that controls s state of movement of the vehicle.
A vehicle control system estimates the external power of the road surface reaction force, the frictional resistance of the road surface, the wheel load and the vertical direction reaction force, etc. that show the power receiving from the external along with vehicle travelling by using the function as external power estimation part 40, and estimates the parameters of the speed and the acceleration, etc. that shows the state of movement of the control object part by using the function as the tire model control part 51, suspension arm model control part 52, and spring and damper model control part 53 based on the drive torque, the steering force, the brake oil pressure, and the external power. Then the drive torque, the steering force, and the brake oil pressure, etc. are corrected so that the parameters may become in the desired ranges set beforehand, by using the functions of model control parts 51-53.
SAWADA MAMORU
KATAOKA MOTOAKI
| JP2004168148A | 2004-06-17 | |||
| JP2010208633A | 2010-09-24 |