Patent ID: 7567865

Claim:
A vehicle body motion realization method, comprising: calculating a direction in which tire generating force acts for each wheel of a vehicle by means of a performance function including the direction in which tire generating force acts, so as to realize desired yaw moment and vehicle body generating force for obtaining a predetermined vehicle body motion, and the vehicle body motion is realized by using the calculated direction in which the tire generating force acts, wherein said performance function is a performance function corresponding to a ratio between a sum of respective squares of the desired vehicle body generating force and yaw moment, and a utilization factor of a road surface frictional coefficient that is a frictional coefficient between a road surface which is supposed to have a constant condition for each of wheels, and a tire; and at least one of regulating a steering angle of each wheel and regulating braking and driving forces of each wheel based on the calculated direction in which the tire generating force acts.