To provide a controller achieving driving/braking force and yaw moment which are as close to driving/braking force and yaw moment that a vehicle needs to have as possible and suitable to the state of driving operation of a driver.
Target driving/braking force Fvn that the vehicle needs to have and the target yaw moment Mvn of the vehicle are calculated (S20). When one of the targets can not be achieved with the driving/braking force of respective wheels (S40), a distribution ratio K is calculated (S60) so that it will be smaller as a value indicating an accelerating/decelerating operation by the driver is larger and larger as a value indicating a steering operation by the driver is larger, and the straight line L which is closest to a point P of the target driving/braking force Fvn and target yaw moment Mvn is specified among the out lines of a quadrilateral 100 showing a range of driving/braking force and yaw moment which can be achieved with the driving/braking force of the respective wheels (S80), so that values of coordinates of a target point R as an internal division point on the straight line L based upon the distribution ratio K are regarded as target driving/braking force Fvt and target yaw moment Mvt after correction (S90, S100).
OKUMURA KAZUYA
TSUCHIDA MITSUTAKA
URAGAMI YOSHIO
YOSHISUE KANSUKE
ANDO SATOSHI
SUGIYAMA KOJI
