To meet the behavior of a vehicle to a driver's intention as much as possible while preventing the vehicle from becoming suddenly unstable.
Transverse force fxi and longitudinal force fyi to each tire are individually and independently changed and controlled so that each of four tires 1FL-1RR has a target tire force (i=an identifier for discriminating each tire). Based on the tire force detected by a tire force detection sensor 20, a load rate i of each tire is determined. When all the tires are saturated tires having a load rate i of a predetermined value or more, the target tire force is reduced. The ratio of transverse force to longitudinal force to be reduced is changed according to the brake operation state or handle operation state by the driver.
SUGANO TAKASHI
NEMOTO AKIO
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