Vehicle control device

• US 8,027,775 B2
• Filed: 12/21/2006
• Issued: 09/27/2011
• 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
• Primary Examiner(s): Zanelli; Michael J.
• Application Number:
  US12/097,130
• Publication Number:
  US 20090171526A1
• Time in Patent Office: 1,741 Days
• Field of Search: None
• US Class Current: 701/70
• CPC Class Codes: B60T 2230/02 Side slip angle, attitude angle, floating angle, drift angle
• CPC Class Codes: B60T 8/17552 responsive to the tire sideslip angle or the vehicle body slip angle
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/10 including control of change-speed gearings
• CPC Class Codes: B60W 10/18 including control of braking systems
• 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 2530/20 Tyre data
• CPC Class Codes: B60W 40/10 related to vehicle motion
• CPC Class Codes: B60W 40/101 Side slip angle of tyre
• CPC Class Codes: B62D 6/003 in order to control vehicle yaw movement, i.e. around a vertical axis B62D6/007 takes precedence

Abstract

A basic required manipulated variable Mfbdmd_a is determined on the basis of a state amount error, which is the difference between a state amount of a motion of an actual vehicle 1 and a reference state amount, then a driving/braking force manipulation control input Fxfbdmd_n of a wheel is determined on the basis of the above basic required manipulated variable. At this time, a change in a driving/braking force operation control input Fxdmd_n of a front wheel and a rear wheel, respectively, of a particular set is made to be proportional to a change in the basic required manipulated variable Mfbdmd_a, and the ratio (gain) of a change in Fxdmd_n with respect to a change in Mfbdmd_a is made to change on the basis of gain adjustment parameters, such as side slip angles βf_act and βr_act. This makes it possible to properly control a motion of the actual vehicle to a desired motion by properly manipulating a road surface reaction force acting on a front wheel of the vehicle and a road surface reaction force acting on a rear wheel.

Claims

1. A vehicle control device equipped with a drive manipulated variable detecting means which detects a drive manipulated variable indicative of a drive manipulation state of a 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 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 vehicle control device comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a first state amount related to a rotational motion in the yaw direction of an actual vehicle or the value of a first state amount related to the rotational motion in the yaw direction and a translational motion in a lateral direction;

a reference value determining means which determines a first reference value, which is a reference value of the first state amount, on the basis of 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 value;

a basic required manipulated variable determining means which determines a basic required manipulated variable for operating the actuator device to approximate the first state amount error to zero on the basis of the calculated first state amount error; and

a driving/braking force manipulation control input determining means which determines, on at least one particular set among the sets of front wheels and rear wheels immediately behind the front wheels of the actual vehicle, a driving/braking force manipulation control input, which is a control input for manipulating the driving/braking force of each of the front wheel and the rear wheel of the particular set, such that the relationship between at least a change in the basic required manipulated variable and a change in the driving/braking force manipulation control input will be a proportional relationship,

wherein the actuator device control means is a means which manipulates the driving/braking force of each of the front wheel and the rear wheel of the particular set through the intermediary of the actuator device by controlling the operation of the actuator device on the basis of at least the determined driving/braking force manipulation control input,

the driving/braking force manipulation control input determining means uses one of a state amount related to a lateral motion of at least one front wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a front portion of the vehicle, a lateral force acting from a road surface onto at least one front wheel of the vehicle, and a parameter having correlation with one of the state amounts and the lateral force, as a front wheel gain adjustment parameter, determines the driving/braking force manipulation control input of the front wheel of the particular set on the basis of at least the front wheel gain adjustment parameter and the determined basic required manipulated variable such that a front wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the front wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the front wheel gain adjustment parameter, uses, as a rear wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the vehicle, a lateral force acting from a road surface onto at least one rear wheel of the vehicle, and a parameter having correlation with at least one of the state amounts and the lateral force, and determines the driving/braking force manipulation control input of the rear wheel of the particular set on the basis of at least the rear wheel gain adjustment parameter and the determined basic required manipulated variable such that a rear wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the rear wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the rear wheel gain adjustment parameter, and

wherein a state amount related to a lateral motion of the front wheel or the rear wheel is one of a side slip angle, a side slip velocity, and a lateral acceleration of the front wheel or the rear wheel, and a state amount related to a lateral motion at a predetermined position of a front portion or a rear portion of the vehicle is one of a side slip angle, a side slip velocity, and a lateral acceleration at the predetermined position.

2. The vehicle control device according to claim 1, wherein the front wheel gain associated with the front wheel of the particular set is proportional to a front wheel gain manipulation component whose value changes according to the front wheel gain adjustment parameter, and the rear wheel gain associated with the rear wheel of the particular set is proportional to a rear wheel gain manipulation component whose value changes according to the rear wheel gain adjustment parameter, and

the driving/braking force manipulation control input determining means comprises a means which determines the front wheel gain manipulation component and the rear wheel gain manipulation component on the basis of the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter such that the front wheel gain manipulation component associated with the front wheel of the particular set and the rear wheel gain manipulation component associated with the rear wheel of the particular set change according to the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter, respectively, and the sum of the front wheel gain manipulation component and the rear wheel gain manipulation component agrees with a predetermined value or approximates to the predetermined value;

and a means which determines the driving/braking force manipulation control input of the front wheel of each particular set on the basis of at least the front wheel gain manipulation component and the determined basic required manipulated variable and also determines the driving/braking force manipulation control input of the rear wheel of each particular set on the basis of at least the rear wheel gain manipulation component and the determined basic required manipulated variable.

3. The vehicle control device according to claim 1, wherein the basic required manipulated variable determining means comprises a means which determines a feedback manipulated variable by a feedback control law from the first state amount error;

and a means which determines the basic required manipulated variable on the basis of the feedback manipulated variable, wherein the means which determines the basic required manipulated variable on the basis of the feedback manipulated variable sets the value of the feedback manipulated variable to zero in determining the basic required manipulated variable in the case where the feedback manipulated variable exists in a predetermined dead zone in the vicinity of zero.

4. The vehicle control device according to claim 1, wherein the driving/braking force manipulation control input determining means determines the driving/braking force manipulation control input of each of the front wheel and the rear wheel of each particular set such that the front wheel gain associated with the front wheel of the particular set substantially continuously changes relative to the front wheel gain adjustment parameter and the rear wheel gain associated with the rear wheel of each particular set substantially continuously changes relative to the rear wheel gain adjustment parameter.

5. The vehicle control device according to claim 1, wherein the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter are the same type of parameters, and the driving/braking force manipulation control input determining means determines the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set such that a front-rear wheel ratio, which is the ratio of the front wheel gain associated with the front wheel of the particular set and the rear wheel gain associated with the rear wheel of the particular set, monotonously changes in response to changes in the values of the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter in the case where the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter change, taking the same values.

6. A vehicle control device equipped with a drive manipulated variable detecting means which detects a drive manipulated variable indicative of 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 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 vehicle control device comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a first state amount related to a rotational motion in the yaw direction of an actual vehicle or the value of a first state amount related to the rotational motion in the yaw direction and a translational motion in a lateral direction;

a model state amount determining means which determines a first model state amount, which is the value of the first state amount of the vehicle on a vehicle model established beforehand as a model representing the dynamic characteristics of the vehicle, on the basis of 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 model state amount;

a basic required manipulated variable determining means which determines a basic required manipulated variable for operating the actuator device to approximate the first state amount error to zero on the basis of the calculated first state amount error;

a driving/braking force manipulation control input determining means which determines, for at least one particular set among the sets of front wheels and rear wheels immediately behind the front wheels of the actual vehicle, a driving/braking force manipulation control input, which is a control input for manipulating the driving/braking force of each of the front wheel and the rear wheel of the particular set, such that the relationship between at least a change in the basic required manipulated variable and a change in the driving/braking force manipulation control input will be a proportional relationship; and

a vehicle model operation control input determining means which determines, on the basis of at least the calculated first state amount error, a vehicle model operation control input for operating the vehicle on the vehicle model such that the first state amount error approximate to zero,

wherein the actuator device control means is a means which manipulates the driving/braking force of each of the front wheel and the rear wheel of the particular set through the intermediary of the actuator device by controlling the operation of the actuator device on the basis of at least the determined driving/braking force manipulation control input,

the model state amount determining means is a means which determines the first model state amount on the basis of at least the detected drive manipulation input and the determined vehicle model operation control input, and

the driving/braking force manipulation control input determining means uses, as a front wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one front wheel of a real vehicle, which is the actual vehicle, or a model vehicle, which is the vehicle on the vehicle model, a state amount related to a lateral motion at a predetermined position of a front portion of the actual vehicle or the model vehicle, a lateral force acting from a road surface onto at least one front wheel of the actual vehicle or the model vehicle, and a parameter having correlation with at least one of the state amounts and the lateral force, determines the driving/braking force manipulation control input of the front wheel of the particular set on the basis of at least the front wheel gain adjustment parameter and the determined basic required manipulated variable such that a front wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the front wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the front wheel gain adjustment parameter, uses, as a rear wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle or a model vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the actual vehicle or the model vehicle, a lateral force acting from a road surface onto at least one rear wheel of the actual vehicle or the model vehicle, and a parameter having correlation with one of the state amounts and the lateral force, and determines the driving/braking force manipulation control input of the rear wheel of the particular set on the basis of at least the rear wheel gain adjustment parameter and the determined basic required manipulated variable such that a rear wheel gain, which indicates the ratio of a change in the driving/braking force manipulation control input of the rear wheel of the particular set with respect to a change in the basic required manipulated variable, changes on the basis of the rear wheel gain adjustment parameter.

7. The vehicle control device according to claim 6, wherein the front wheel gain adjustment parameter takes a resultant value of one of the resultant value of a state amount related to a lateral motion of at least one front wheel of the actual vehicle and a state amount related to a lateral motion of at least one front wheel of the model vehicle, the resultant value of a state amount related to a lateral motion at a predetermined position of a front portion of the actual vehicle and a state amount related to a lateral motion at a predetermined position of a front portion of the model vehicle, and the resultant value of a lateral force acting on at least one front wheel of the actual vehicle and a lateral force acting on at least one front wheel of the model vehicle, and

the rear wheel gain adjustment parameter takes a resultant value of one of the resultant value of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle and a state amount related to a lateral motion of at least one rear wheel of the model vehicle, the resultant value of a state amount related to a lateral motion at a predetermined position of a rear portion of the actual vehicle and a state amount related to a lateral motion at a predetermined position of a rear portion of the model vehicle, and the resultant value of a lateral force acting on at least one rear wheel of the actual vehicle and a lateral force acting on at least one rear wheel of the model vehicle.

8. The vehicle control device according to claim 6, wherein the driving/braking force manipulation control input determining means comprises:

a means which determines a first temporary value for manipulating the front wheel gain associated with the front wheel of the particular set on the basis of one of a state amount related to a lateral motion of at least one front wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a front portion of the actual vehicle, a lateral force acting from a road surface onto at least one front wheel of the actual vehicle, and a parameter having correlation with at least one of these state amounts and the lateral force;

a means which determines a first temporary value for manipulating the rear wheel gain associated with the rear wheel of the particular set on the basis of one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the actual vehicle, a lateral force acting from a road surface onto at least one rear wheel of the actual vehicle, and a parameter having correlation with at least one of these state amounts and the lateral force;

a means which determines a second temporary value for manipulating the front wheel gain associated with the front wheel of the particular set on the basis of one of a state amount related to a lateral motion of at least one front wheel of the model vehicle, a state amount related to a lateral motion at a predetermined position of a front portion of the model vehicle, a lateral force acting from a road surface onto at least one front wheel of the model vehicle, and a parameter having correlation with at least one of these state amounts and the lateral force;

a means which determines a second temporary value for manipulating the rear wheel gain associated with the rear wheel of the particular set on the basis of one of a state amount related to a lateral motion of at least one rear wheel of the model vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the model vehicle, a lateral force acting from a road surface onto at least one rear wheel of the model vehicle, and a parameter having correlation with at least one of these state amounts and the lateral force;

a means which determines a resultant value for manipulating a front wheel gain by synthesizing the first temporary value and the second temporary value for manipulating the front wheel gain associated with the front wheel of the particular set and a resultant value for manipulating a rear wheel gain by synthesizing the first temporary value and the second temporary value for manipulating the rear wheel gain associated with the rear wheel of the particular set; and

a means which determines a driving/braking force manipulation control input of the front wheel of the particular set on the basis of at least the resultant value for manipulating the front wheel gain and the determined basic required manipulated variable such that the front wheel gain becomes proportional to the resultant value for manipulating the front wheel gain determined in association with the front wheel of the particular set, and also determines a driving/braking force manipulation control input of the rear wheel of the particular set on the basis of at least the resultant value for manipulating the rear wheel gain and the determined basic required manipulated variable such that the rear wheel gain becomes proportional to the resultant value for manipulating the rear wheel gain determined in association with the rear wheel of the particular set.

9. The vehicle control device according to claim 6, wherein the front wheel gain associated with the front wheel of the particular set is proportional to a front wheel gain manipulation component whose value changes according to the front wheel gain adjustment parameter, and the rear wheel gain associated with the rear wheel of the particular set is proportional to a rear wheel gain manipulation component whose value changes according to the rear wheel gain adjustment parameter, and

the driving/braking force manipulation control input determining means comprises a means which determines the front wheel gain manipulation component and the rear wheel gain manipulation component on the basis of the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter such that the front wheel gain manipulation component associated with the front wheel of the particular set and the rear wheel gain manipulation component associated with the rear wheel of the particular set change according to the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter, respectively, and the sum of the front wheel gain manipulation component and the rear wheel gain manipulation component agrees with a predetermined value or approximates to the predetermined value;

and a means which determines the driving/braking force manipulation control input of the front wheel of each particular set on the basis of at least the front wheel gain manipulation component and the determined basic required manipulated variable and also determines the driving/braking force manipulation control input of the rear wheel of each particular set on the basis of at least the rear wheel gain manipulation component and the determined basic required manipulated variable.

10. The vehicle control device according to claim 6, wherein the basic required manipulated variable determining means comprises a means which determines a feedback manipulated variable by a feedback control law from the first state amount error;

and a means which determines the basic required manipulated variable on the basis of the feedback manipulated variable, wherein the means which determines the basic required manipulated variable on the basis of the feedback manipulated variable sets the value of the feedback manipulated variable to zero in determining the basic required manipulated variable in the case where the feedback manipulated variable exists in a predetermined dead zone in the vicinity of zero.

11. The vehicle control device according to claim 6, wherein the driving/braking force manipulation control input determining means determines the driving/braking force manipulation control input of each of the front wheel and the rear wheel of each particular set such that the front wheel gain associated with the front wheel of the particular set substantially continuously changes relative to the front wheel gain adjustment parameter and the rear wheel gain associated with the rear wheel of each particular set substantially continuously changes relative to the rear wheel gain adjustment parameter.

12. The vehicle control device according to claim 6, wherein the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter are the same type of parameters, and the driving/braking force manipulation control input determining means determines the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set such that a front-rear wheel ratio, which is the ratio of the front wheel gain associated with the front wheel of the particular set and the rear wheel gain associated with the rear wheel of the particular set, monotonously changes in response to changes in the values of the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter in the case where the front wheel gain adjustment parameter and the rear wheel gain adjustment parameter change, taking the same values.

13. The vehicle control device according to claim 6, wherein a state amount related to a lateral motion of the front wheel or the rear wheel is one of a side slip angle, a side slip velocity, and a lateral acceleration of the front wheel or the rear wheel, and a state amount related to a lateral motion at a predetermined position of a front portion or a rear portion of the vehicle is one of a side slip angle, a side slip velocity, and a lateral acceleration at the predetermined position.

14. A vehicle control device equipped with a drive manipulated variable detecting means which detects a drive manipulated variable indicative of a drive manipulation state of a 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 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 vehicle control device comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a first state amount related to a rotational motion in the yaw direction of an actual vehicle or the value of a first state amount related to the rotational motion in the yaw direction and a translational motion in a lateral direction;

a reference value determining means which determines a first reference value, which is a reference value of the first state amount, on the basis of 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 value;

a basic required manipulated variable determining means which determines a basic required manipulated variable for operating the actuator device to approximate the first state amount error to zero on the basis of the calculated first state amount error; and

a driving/braking force manipulation control input determining means which determines, for one particular set among the sets of front wheels and rear wheels immediately behind the front wheels of the actual vehicle, a driving/braking force manipulation control input, which is a control input for manipulating the driving/braking force of each of the front wheel and the rear wheel of the particular set,

wherein the actuator device control means is a means which manipulates the driving/braking force of each of the front wheel and the rear wheel of the particular set through the intermediary of the actuator device by controlling the operation of the actuator device on the basis of at least the determined driving/braking force manipulation control input, and

the driving/braking force manipulation control input determining means is a means which uses, as a front wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one front wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a front portion of the vehicle, a lateral force acting from a road surface onto at least one front wheel of the vehicle, and a parameter having correlation with one of the state amounts and the lateral force, uses, as a rear wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the vehicle, a lateral force acting from a road surface onto at least one rear wheel of the vehicle, and a parameter having correlation with at least one of the state amounts and the lateral force, receives at least the determined basic required manipulated variable, the front wheel gain adjustment parameter, and the rear wheel gain adjustment parameter as inputs, and outputs the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set, and the relationship between the inputs and the outputs is configured such that a change in the driving/braking force manipulation control input of the front wheel of the particular set in the case where only the front wheel gain adjustment parameter among the inputs monotonously changes, a change in the driving/braking force manipulation control input of the rear wheel of the particular set in the case where only the rear wheel gain adjustment parameter monotonously changes, and a change in the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set in the case where only the basic required manipulated variable monotonously changes while maintaining the polarity thereof at the same polarity will be monotonous changes.

15. The vehicle control device according to claim 14, wherein the relationship between inputs and outputs of the driving/braking force manipulation control input determining means is configured such that a change in the driving/braking force manipulation control input of the rear wheel of the particular set in the case where only the front wheel gain adjustment parameter in the inputs monotonously changes will be a monotonous change in the opposite direction from that of a change in the driving/braking force manipulation control input of the front wheel of the particular set and a change in the driving/braking force manipulation control input of the front wheel of the particular set in the case where only the rear wheel gain adjustment parameter monotonously changes will be a monotonous change in the opposite direction from that of a change in the driving/braking force manipulation control input of the rear wheel of the particular set.

16. A vehicle control device equipped with a drive manipulated variable detecting means which detects a drive manipulated variable indicative of a drive manipulation state of a 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 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 vehicle control device comprising:

an actual state amount grasping means which detects or estimates a first actual state amount, which is the value of a first state amount related to a rotational motion in the yaw direction of an actual vehicle or the value of a first state amount related to the rotational motion in the yaw direction and a translational motion in a lateral direction;

a model state amount determining means which determines a first model state amount, which is the value of the first state amount of the vehicle on a vehicle model established beforehand as a model representing the dynamic characteristics of the vehicle, on the basis of 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 model state amount;

a basic required manipulated variable determining means which determines a basic required manipulated variable for operating the actuator device to approximate the first state amount error to zero on the basis of the calculated first state amount error;

a driving/braking force manipulation control input determining means which determines, for one particular set among the sets of front wheels and rear wheels immediately behind the front wheels of the actual vehicle, a driving/braking force manipulation control input, which is a control input for manipulating the driving/braking force of each of the front wheel and the rear wheel of the particular set; and

a vehicle model operation control input determining means which determines, on the basis of at least the calculated first state amount error, a vehicle model operation control input for operating the vehicle on the vehicle model such that the first state amount error approximates to zero,

wherein the actuator device control means is a means which manipulates the driving/braking force of each of the front wheel and the rear wheel of the particular set through the intermediary of the actuator device by controlling the operation of the actuator device on the basis of at least the determined driving/braking force manipulation control input, and

the driving/braking force manipulation control input determining means is a means which uses, as a front wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one front wheel of a real vehicle, which is the actual vehicle, or a model vehicle, which is the vehicle on the vehicle model, a state amount related to a lateral motion at a predetermined position of a front portion of the actual vehicle or the model vehicle, a lateral force acting from a road surface onto at least one front wheel of the actual vehicle or the model vehicle, and a parameter having correlation with at least one of the state amounts and the lateral force, uses, as a rear wheel gain adjustment parameter, one of a state amount related to a lateral motion of at least one rear wheel of the actual vehicle or the model vehicle, a state amount related to a lateral motion at a predetermined position of a rear portion of the actual vehicle or the model vehicle, a lateral force acting from a road surface onto at least one rear wheel of the actual vehicle or the model vehicle, and a parameter having correlation with one of the state amounts and the lateral force, receives at least the determined basic required manipulated variable, the front wheel gain adjustment parameter, and the rear wheel gain adjustment parameter as inputs, and then outputs the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set, and the relationship between the inputs and the outputs is configured such that a change in the driving/braking force manipulation control input of the front wheel of the particular set in the case where only the front wheel gain adjustment parameter among the inputs monotonously changes, a change in the driving/braking force manipulation control input of the rear wheel of the particular set in the case where only the rear wheel gain adjustment parameter monotonously changes, and a change in the driving/braking force manipulation control input of each of the front wheel and the rear wheel of the particular set in the case where only the basic required manipulated variable monotonously changes while maintaining the polarity thereof at the same polarity will be monotonous changes.

17. The vehicle control device according to claim 16, wherein the relationship between inputs and outputs of the driving/braking force manipulation control input determining means is configured such that a change in the driving/braking force manipulation control input of the rear wheel of the particular set in the case where only the front wheel gain adjustment parameter in the inputs monotonously changes will be a monotonous change in the opposite direction from that of a change in the driving/braking force manipulation control input of the front wheel of the particular set and a change in the driving/braking force manipulation control input of the front wheel of the particular set in the case where only the rear wheel gain adjustment parameter monotonously changes will be a monotonous change in the opposite direction from that of a change in the driving/braking force manipulation control input of the rear wheel of the particular set.