Patent attributes
According to the present invention, when a target braking/driving force and a vehicle target yaw moment required to a vehicle cannot be achieved through a control of a braking/driving forces of wheels, in a rectangular coordinate of the braking/driving force and the yaw moment, a polygon indicating the maximum range of the braking/driving force and the yaw moment attainable by the braking/driving forces of the wheels, and an ellipse that crosses each side of the polygon and has a major axis and a minor axis aligning with the coordinate axis of the rectangular coordinate are set, for example. The target braking/driving force and the target yaw moment are modified to the values at the coordinate of the point, which is closer to the origin, of a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the polygon, and a point of intersection of a segment linking a point indicating the target braking/driving force and the target yaw moment and the origin, and the ellipse.
