To effectively reduce the pitching of a vehicle at acceleration/deceleration by focusing on a delay in the pitching response of the vehicle to braking/driving force to the vehicle and reducing the pitching of the vehicle due to the pitching response delay.
A driver-requested target braking/driving force F to a vehicle is computed from a driver's braking/driving control input (S20). From the driver-requested target braking/driving force F, suspension spring constants and suspension damping coefficients, a compensated target braking/driving force Ft(t) to the vehicle for preventing the pitching of the vehicle is computed (S40). From the compensated target braking/driving force Ft(t), a target driving torque Tm to all the wheels of the vehicle is computed (S50). From the target driving torque Tm, a target braking/driving torque Twxti to each wheel is computed (S80). According to the target braking/driving torque Twxti, braking/driving torque to each wheel is controlled (S90 to 150).
TSUCHIDA MITSUTAKA
OKUMURA KAZUYA
URAGAMI YOSHIO
YOSHISUE KANSUKE
| JP2004168148A | 2004-06-17 | |||
| JPH03277863A | 1991-12-09 | |||
| JPH08177551A | 1996-07-09 |
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