To achieve control of each wheel reflecting a tire condition, as much as possible.
A controller 50 chooses correlation data (a table) for each classification of tire abrasion amounts stored in a ROM 52 for use in obtaining cornering stiffness kf, kr from a grounding load FZ of each wheel, in response to the change in the tire abrasion amounts. The abrasion amounts may be estimated and computed by the controller 50, on the basis of an accumulated amount of travelling distances obtained by using an output from each sensor 111, 113, 115, 117, and may be input through an operation from an external input terminal 60. By obtaining control parameter in independent control of at least either of driving or breaking of each wheel, by using the cornering stiffness kf, kr in this way, makes control content accurate, corresponding to the condition of the abrasion amounts.
Iwa Saki Kokuni
Kawamata Sumio
Masakazu Ito
Shunichi Takahashi
Toshio Takamatsu