| abstract |
A driving force distribution for realizing a target vehicle behavior so as not to exceed a driving force limit of each wheel is obtained. The present invention calculates target values of vehicle longitudinal force and yaw moment, calculates a basic value for distributing driving force to each wheel (1 to 4), and calculates a driving force limit value for each wheel. The basic driving force value after limiting the driving force distribution value is calculated by the driving force limit value, the vehicle longitudinal force and yaw moment realized by the limiting driving force basic value are calculated, and the vehicle longitudinal force and yaw moment are calculated. Calculates the vehicle behavior error, which is the error between the target value of the moment and the vehicle longitudinal force and yaw moment realized by the basic value of the limited driving force, and corrects the driving force distribution to each wheel to reduce the vehicle behavior error. By calculating the amount and adding the driving force distribution correction amount to the limited driving force basic value, the target value of driving force distribution to each wheel is calculated, and the first motor ( 12), the second motor (15) and the second Controlling the driving force of the motor (16). [Selection] Figure 6 |