CONTROLLER OF VEHICLE

• US 20090132137A1
• Filed: 12/21/2006
• Published: 05/21/2009
• Est. Priority Date: 12/27/2005
• Status: Active Grant

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Kono, Hiroshi, Takenaka, Toru, Urabe, Hiroyuki, Toyoshima, Takayuki
• Granted Patent: US 8,050,822 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: B60T 2210/12 Friction
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/1755 Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve road vehicle drive control systems for control of driving stability otherwise than by controlling a particular sub-unit B60W30/02
• CPC Class Codes: B60W 2050/0033 Single-track, 2D vehicle model, i.e. two-wheel bicycle model
• CPC Class Codes: B60W 2050/0034 Multiple-track, 2D vehicle model, e.g. four-wheel model
• CPC Class Codes: B60W 2520/20 Sideslip angle
• CPC Class Codes: B60W 40/064 Degree of grip
• CPC Class Codes: B60W 40/101 Side slip angle of tyre

Abstract

A driving/braking force manipulation control input of a k-th wheel, which denotes one or more specific wheels among a plurality of wheels of a vehicle, is determined such that a required condition concerning a relationship among a road surface reaction force that may act from a road surface on the k-th wheel on the basis of the detected values or estimated values of a road surface reaction force and a friction characteristic of the k-th wheel, a feedback control input related to the driving/braking force of the k-th wheel for bringing a difference between a state amount of the vehicle and a reference state amount close to zero, a driving/braking force feedforward control input based on a drive manipulated variable supplied by a driver of the vehicle, and a k-th wheel driving/braking force manipulation control input is satisfied. This arrangement makes it possible to properly control a motion of an actual vehicle to a desired motion while properly considering the characteristics of a road surface reaction force acting from a road surface on a wheel.

Claims

1. A controller of a vehicle equipped with a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of at least the driving/braking force of each wheel of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the controller of a vehicle comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a predetermined first state amount related to a predetermined motion including at least a rotational motion in a yaw direction of an actual vehicle;

an actual road surface reaction force grasping means which detects or estimates a road surface reaction force acting from a road surface onto each wheel of the actual vehicle;

a friction characteristic estimating means which estimates the characteristic of friction between a wheel of the actual vehicle and the road surface;

a reference manipulated variable determining means which determines a first reference state amount, which is the reference value of the first state amount, based on at least the detected drive manipulated variable;

a state amount error calculating means which calculates a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first reference state amount; and

an actual vehicle actuator operation control input determining means which determines an actual vehicle actuator operation control input, which is a control input for operating the actuator device and which includes a driving/braking force manipulation control input defining a target driving/braking force of each wheel of the actual vehicle, on the basis of at least the detected drive manipulated variable and the calculated first state amount error,

wherein the actuator device control means is a means which controls the operation of the actuator device on the basis of the determined actual vehicle actuator operation control input, and

the actual vehicle actuator operation control input determining means comprises;

a means which determines a feedback control input for manipulating the driving/braking force of each wheel for bringing the first state amount error close to zero on the basis of at least the calculated first state amount error;

a means which determines a feedforward control input defining a feedforward target value of the driving/braking force of each wheel on the basis of at least the detected drive operation input; and

a means which determines, on a k-th wheel, which is one or more specific wheels of the plurality of wheels, a k-th elliptic function which is an elliptic function defining a correlation between a driving/braking force component and a lateral force component of a road surface reaction force which may act on the k-th wheel from a road surface on the basis of the detected or estimated road surface reaction force of the k-th wheel and the estimated friction characteristic; and

a means which determines a driving/braking force manipulation control input of the k-th wheel such that a predetermined first required condition related to a relationship among at least a road surface reaction force that may act on the k-th wheel according to the determined k-th elliptic function, the feedforward control input of the k-th wheel, the feedback control input of the k-th wheel, and the driving/braking force manipulation control input of the k-th wheel is satisfied.

5. The controller of a vehicle according to claim 1, wherein the feedback control input is a control input which defines a target value of a manipulated variable of a driving/braking force of each wheel, and

in the case where the total sum of the target value of the manipulated variable of a driving/braking force specified by a feedback control input of the k-th wheel and the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is defined as an unlimited k-th wheel required driving/braking force, the first required condition is a condition that the target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of the road surface reaction forces that may act from a road surface onto the k-th wheel according to the k-th elliptic function and that the absolute value of a difference from the unlimited k-th wheel required driving/braking force is minimized.

9. The controller of a vehicle according to claim 1, wherein the feedback control input is a control input that defines the target value of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle caused by the manipulation of the driving/braking force of each wheel by the feedback control input, and

in the case where the total sum of the target values of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component in a road surface reaction force that may act from a road surface on the k-th wheel according to the k-th elliptic function, the driving/braking force component leading to a minimum absolute value of the difference from the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel, and a moment in the yaw direction specified by a feedback control input of the k-th wheel is defined as an unlimited k-th wheel required moment, the first required condition is a condition that the target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function and that the absolute value of the difference between the moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component equivalent to a target driving/braking force of the k-th wheel in the road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function, and the unlimited k-th wheel required moment is minimum.

17. The controller of a vehicle according to claim 1, further comprising:

a vehicle model established beforehand as a model that expresses the dynamic characteristics of the vehicle and a vehicle model operation control input determining means which determines a vehicle model operation control input for manipulating a motion which includes at least a rotational motion in the yaw direction of a vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the reference state amount determining means is a means which inputs at least the detected drive operation input and the determined vehicle model operation control input into the vehicle model to determine a first state amount related to the predetermined motion including the rotational motion in the yaw direction of the vehicle on the vehicle model as the first reference state amount.

2. A controller of a vehicle equipped with a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of at least the driving/braking force of each wheel of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the controller of a vehicle comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a predetermined first state amount related to a predetermined motion including at least a rotational motion in a yaw direction of an actual vehicle;

an actual road surface reaction force grasping means which detects or estimates a road surface reaction force acting from a road surface onto each wheel of the actual vehicle;

a friction characteristic estimating means which estimates the characteristic of friction between a wheel of the actual vehicle and the road surface;

a reference manipulated variable determining means which determines a first reference state amount, which is the reference value of the first state amount, based on at least the detected drive manipulated variable;

a state amount error calculating means which calculates a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first reference state amount; and

an actual vehicle actuator operation control input determining means which determines an actual vehicle actuator operation control input, which is a control input for operating the actuator device and which includes a driving/braking force manipulation control input defining a target driving/braking force of each wheel of the actual vehicle, on the basis of at least the detected drive manipulated variable and the calculated first state amount error,

wherein the actuator device control means is a means which controls the operation of the actuator device on the basis of the determined actual vehicle actuator operation control input, and

the actual vehicle actuator operation control input determining means comprises;

a means which determines a feedback control input for manipulating the driving/braking force of each wheel for bringing the first state amount error close to zero on the basis of at least the calculated first state amount error;

a means which determines a feedforward control input defining a feedforward target value of the driving/braking force of each wheel on the basis of at least the detected drive operation input;

a means which determines, on a k-th wheel, which is one or more specific wheels of the plurality of wheels, a k-th elliptic function which is an elliptic function defining a correlation between a driving/braking force component and a lateral force component of a road surface reaction force which may act on the k-th wheel from a road surface on the basis of the detected or estimated road surface reaction force of the k-th wheel and the estimated friction characteristic; and

a means which defines a predetermined required condition related to a relationship among at least a road surface reaction force that may act from a road surface on the k-th wheel according to the determined k-th elliptic function, the feedforward control input of the k-th wheel, the feedback control input of the k-th wheel, and a driving/braking force manipulation control input of the k-th wheel as a first required condition, defines a predetermined required condition related to a relationship between a driving/braking force at the generation of a maximum moment, which is a driving/braking force component of a road surface reaction force that is maximized in the same direction as the direction of a moment in the yaw direction generated about the center-of-gravity point of the actual vehicle due to the manipulation of the driving/braking force of the k-th wheel based on the feedback control input of the k-th wheel by a moment in the yaw direction generated about the center-of-gravity point of the actual vehicle by a road surface reaction force, in the road surface reaction force that may act from a road surface on the k-th wheel according to at least the determined k-th elliptic function, and the driving/braking force manipulation control input of the k-th wheel as a second required condition, defines the second required condition out of the first required condition and the second required condition as a priority condition, and determines the driving/braking force manipulation control input of the k-th wheel such that at least either one of the first required condition and the second required condition is satisfied.

6. The controller of a vehicle according to claim 2, wherein the feedback control input is a control input which defines a target value of a manipulated variable of a driving/braking force of each wheel, and

in the case where the total sum of the target value of the manipulated variable of a driving/braking force specified by a feedback control input of the k-th wheel and the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is defined as an unlimited k-th wheel required driving/braking force, the first required condition is a condition that the target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of the road surface reaction forces that may act from a road surface onto the k-th wheel according to the k-th elliptic function and that the absolute value of a difference from the unlimited k-th wheel required driving/braking force is minimized.

10. The controller of a vehicle according to claim 2, wherein the feedback control input is a control input that defines the target value of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle caused by the manipulation of the driving/braking force of each wheel by the feedback control input, and

in the case where the total sum of the target values of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component in a road surface reaction force that may act from a road surface on the k-th wheel according to the k-th elliptic function, the driving/braking force component leading to a minimum absolute value of the difference from the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel, and a moment in the yaw direction specified by a feedback control input of the k-th wheel is defined as an unlimited k-th wheel required moment, the first required condition is a condition that the target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function and that the absolute value of the difference between the moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component equivalent to a target driving/braking force of the k-th wheel in the road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function, and the unlimited k-th wheel required moment is minimum.

13. The controller of a vehicle according to claim 2, wherein the second required condition is a condition that the direction of a target k-th wheel driving/braking force, which is a target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel and the direction of the k-th wheel driving/braking force at the generation of a maximum moment are opposite from each other, or the absolute value of the target k-th wheel driving/braking force is not more than the absolute value of the k-th wheel driving/braking force at the generation of a maximum moment.

18. The controller of a vehicle according to claim 2, further comprising:

a vehicle model established beforehand as a model that expresses the dynamic characteristics of the vehicle and a vehicle model operation control input determining means which determines a vehicle model operation control input for manipulating a motion which includes at least a rotational motion in the yaw direction of a vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the reference state amount determining means is a means which inputs at least the detected drive operation input and the determined vehicle model operation control input into the vehicle model to determine a first state amount related to the predetermined motion including the rotational motion in the yaw direction of the vehicle on the vehicle model as the first reference state amount.

3. A controller of a vehicle equipped with a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of at least the driving/braking force of each wheel of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the controller of a vehicle comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a predetermined first state amount related to a predetermined motion including at least a rotational motion in a yaw direction of an actual vehicle;

an actual road surface reaction force grasping means which detects or estimates a road surface reaction force acting from a road surface onto each wheel of the actual vehicle;

a friction characteristic estimating means which estimates the characteristic of friction between a wheel of the actual vehicle and the road surface;

a reference manipulated variable determining means which determines a first reference state amount, which is the reference value of the first state amount, based on at least the detected drive manipulated variable;

a state amount error calculating means which calculates a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first reference state amount; and

an actual vehicle actuator operation control input determining means which determines an actual vehicle actuator operation control input, which is a control input for operating the actuator device and which includes a driving/braking force manipulation control input defining a target driving/braking force of each wheel of the actual vehicle, on the basis of at least the detected drive manipulated variable and the calculated first state amount error,

wherein the actuator device control means is a means which controls the operation of the actuator device on the basis of the determined actual vehicle actuator operation control input, and

the actual vehicle actuator operation control input determining means comprises;

a means which determines a feedback control input for manipulating the driving/braking force of each wheel for bringing the first state amount error close to zero on the basis of at least the calculated first state amount error;

a means which determines a feedforward control input defining a feedforward target value of the driving/braking force of each wheel on the basis of at least the detected drive operation input;

a means which determines, on a k-th wheel, which is one or more specific wheels of the plurality of wheels, a k-th elliptic function which is an elliptic function defining a correlation between a driving/braking force component and a lateral force component of a road surface reaction force which may act on the k-th wheel from a road surface on the basis of the detected or estimated road surface reaction force of the k-th wheel and the estimated friction characteristic; and

a means which defines a predetermined required condition related to a relationship among at least a road surface reaction force that may act on the k-th wheel according to the determined k-th elliptic function, the feedforward control input of the k-th wheel, the feedback control input of the k-th wheel, and a driving/braking force manipulation control input of the k-th wheel as a first required condition, defines a predetermined required condition related to a relationship between the feedforward target value defined by the determined feedforward control input of the k-th wheel and a driving/braking force manipulation control input of the k-th wheel as a third required condition, defines the third required condition out of the first required condition and the third required condition as a priority condition, and determines the driving/braking force manipulation control input of the k-th wheel such that at least either one of the first required condition and the third required condition is satisfied.

7. The controller of a vehicle according to claim 3, wherein the feedback control input is a control input which defines a target value of a manipulated variable of a driving/braking force of each wheel, and

in the case where the total sum of the target value of the manipulated variable of a driving/braking force specified by a feedback control input of the k-th wheel and the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is defined as an unlimited k-th wheel required driving/braking force, the first required condition is a condition that the target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of the road surface reaction forces that may act from a road surface onto the k-th wheel according to the k-th elliptic function and that the absolute value of a difference from the unlimited k-th wheel required driving/braking force is minimized.

11. The controller of a vehicle according to claim 3, wherein the feedback control input is a control input that defines the target value of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle caused by the manipulation of the driving/braking force of each wheel by the feedback control input, and

in the case where the total sum of the target values of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component in a road surface reaction force that may act from a road surface on the k-th wheel according to the k-th elliptic function, the driving/braking force component leading to a minimum absolute value of the difference from the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel, and a moment in the yaw direction specified by a feedback control input of the k-th wheel is defined as an unlimited k-th wheel required moment, the first required condition is a condition that the target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function and that the absolute value of the difference between the moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component equivalent to a target driving/braking force of the k-th wheel in the road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function, and the unlimited k-th wheel required moment is minimum.

15. The controller of a vehicle according to claim 3, wherein the third required condition is a condition that, in the case where a target k-th wheel driving/braking force, which is a target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel, is a driving/braking force in the braking direction, and a feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is a driving/braking force in the braking direction, the absolute value of the target k-th wheel driving/braking force is not less than the absolute value of a feedforward target value of a driving/braking force of the k-th wheel.

19. The controller of a vehicle according to claim 3, further comprising:

a vehicle model established beforehand as a model that expresses the dynamic characteristics of the vehicle and a vehicle model operation control input determining means which determines a vehicle model operation control input for manipulating a motion which includes at least a rotational motion in the yaw direction of a vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the reference state amount determining means is a means which inputs at least the detected drive operation input and the determined vehicle model operation control input into the vehicle model to determine a first state amount related to the predetermined motion including the rotational motion in the yaw direction of the vehicle on the vehicle model as the first reference state amount.

4. A controller of a vehicle equipped with a drive manipulated variable detecting means which detects a drive manipulated variable that indicates a drive manipulation state of the vehicle driven by a driver of the vehicle having a plurality of wheels, an actuator device provided in the vehicle so as to permit the manipulation of at least the driving/braking force of each wheel of the vehicle, and an actuator device control means which sequentially controls an operation of the actuator device, the controller of a vehicle comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a predetermined first state amount related to a predetermined motion including at least a rotational motion in a yaw direction of an actual vehicle;

an actual road surface reaction force grasping means which detects or estimates a road surface reaction force acting from a road surface onto each wheel of the actual vehicle;

a friction characteristic estimating means which estimates the characteristic of friction between a wheel of the actual vehicle and the road surface;

a reference manipulated variable determining means which determines a first reference state amount, which is the reference value of the first state amount, based on at least the detected drive manipulated variable;

a state amount error calculating means which calculates a first state amount error, which is a difference between the detected or estimated first actual state amount and the determined first reference state amount; and

an actual vehicle actuator operation control input determining means which determines an actual vehicle actuator operation control input, which is a control input for operating the actuator device and which includes a driving/braking force manipulation control input defining a target driving/braking force of each wheel of the actual vehicle, on the basis of at least the detected drive manipulated variable and the calculated first state amount error,

wherein the actuator device control means is a means which controls the operation of the actuator device on the basis of the determined actual vehicle actuator operation control input, and

the actual vehicle actuator operation control input determining means comprises;

a means which determines a feedback control input for manipulating the driving/braking force of each wheel for bringing the first state amount error close to zero on the basis of at least the calculated first state amount error;

a means which determines a feedforward control input defining a feedforward target value of the driving/braking force of each wheel on the basis of at least the detected drive operation input;

a means which determines, on a k-th wheel, which is one or more specific wheels of the plurality of wheels, a k-th elliptic function which is an elliptic function defining a correlation between a driving/braking force component and a lateral force component of a road surface reaction force which may act on the k-th wheel from a road surface on the basis of the detected or estimated road surface reaction force of the k-th wheel and the estimated friction characteristic; and

a means which defines a predetermined required condition related to a relationship among at least a road surface reaction force that may act from a road surface on the k-th wheel according to the determined k-th elliptic function, the feedforward control input of the k-th wheel, the feedback control input of the k-th wheel, and a driving/braking force manipulation control input of the k-th wheel as a first required condition, defines a predetermined required condition related to a relationship between a driving/braking force at the generation of a maximum moment, which is a driving/braking force component of a road surface reaction force that is maximized in the same direction as the direction of a moment in the yaw direction generated about the center-of-gravity point of the actual vehicle due to the manipulation of the driving/braking force of the k-th wheel based on the feedback control input of the k-th wheel by a moment in the yaw direction generated about the center-of-gravity point of the actual vehicle by a road surface reaction force, in the road surface reaction force that may act from a road surface on the k-th wheel according to at least the determined k-th elliptic function, and the driving/braking force manipulation control input of the k-th wheel as a second required condition, defines a predetermined required condition related to a relationship between the feedforward target value defined by the determined feedforward control input of the k-th wheel and the driving/braking force manipulation control input of the k-th wheel as a third required condition, defines the third required condition out of the first required condition, the second required condition, and the third required condition as a highest-rank priority condition, defines the second required condition as the next-tank priority condition, and determines the driving/braking force manipulation control input of the k-th wheel such that at least one of the first required condition, the second required condition, and the third required condition is satisfied.

8. The controller of a vehicle according to claim 4, wherein the feedback control input is a control input which defines a target value of a manipulated variable of a driving/braking force of each wheel, and

in the case where the total sum of the target value of the manipulated variable of a driving/braking force specified by a feedback control input of the k-th wheel and the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is defined as an unlimited k-th wheel required driving/braking force, the first required condition is a condition that the target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of the road surface reaction forces that may act from a road surface onto the k-th wheel according to the k-th elliptic function and that the absolute value of a difference from the unlimited k-th wheel required driving/braking force is minimized.

12. The controller of a vehicle according to claim 4, wherein the feedback control input is a control input that defines the target value of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle caused by the manipulation of the driving/braking force of each wheel by the feedback control input, and

in the case where the total sum of the target values of a moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component in a road surface reaction force that may act from a road surface on the k-th wheel according to the k-th elliptic function, the driving/braking force component leading to a minimum absolute value of the difference from the feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel, and a moment in the yaw direction specified by a feedback control input of the k-th wheel is defined as an unlimited k-th wheel required moment, the first required condition is a condition that the target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel takes a value in a range of the values of the driving/braking force components of road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function and that the absolute value of the difference between the moment in the yaw direction generated about the center-of-gravity point of an actual vehicle by a road surface reaction force which has a driving/braking force component equivalent to a target driving/braking force of the k-th wheel in the road surface reaction forces that may act from a road surface on the k-th wheel according to the k-th elliptic function, and the unlimited k-th wheel required moment is minimum.

14. The controller of a vehicle according to claim 4, wherein the second required condition is a condition that the direction of a target k-th wheel driving/braking force, which is a target driving/braking force specified by a driving/braking force manipulation control input of the k-th wheel and the direction of the k-th wheel driving/braking force at the generation of a maximum moment are opposite from each other, or the absolute value of the target k-th wheel driving/braking force is not more than the absolute value of the k-th wheel driving/braking force at the generation of a maximum moment.

16. The controller of a vehicle according to claim 4, wherein the third required condition is a condition that, in the case where a target k-th wheel driving/braking force, which is a target driving/braking force specified by the driving/braking force manipulation control input of the k-th wheel, is a driving/braking force in the braking direction, and a feedforward target value of a driving/braking force specified by a feedforward control input of the k-th wheel is a driving/braking force in the braking direction, the absolute value of the target k-th wheel driving/braking force is not less than the absolute value of a feedforward target value of a driving/braking force of the k-th wheel.

20. The controller of a vehicle according to claim 4, further comprising:

a vehicle model established beforehand as a model that expresses the dynamic characteristics of the vehicle and a vehicle model operation control input determining means which determines a vehicle model operation control input for manipulating a motion which includes at least a rotational motion in the yaw direction of a vehicle on the vehicle model on the basis of at least the calculated first state amount error such that the first state amount error is approximated to zero,

wherein the reference state amount determining means is a means which inputs at least the detected drive operation input and the determined vehicle model operation control input into the vehicle model to determine a first state amount related to the predetermined motion including the rotational motion in the yaw direction of the vehicle on the vehicle model as the first reference state amount.