Patent ID: 8355844

Claim:
A vehicle motion control apparatus comprising: an operated state detecting unit which detects an operated state quantity of a vehicle given by a driver; a motion state detecting unit which detects a motion state quantity of the vehicle, the motion state detecting unit including at least a lateral acceleration sensor which detects a lateral acceleration and a yaw rate sensor which detects an actual yaw rate; a reference attitude-state quantity calculation unit for calculating a reference attitude-state quantity of the vehicle which corresponds to the operated state quantity and the motion state quantity of the vehicle based on a vehicle motion model which is a motion model of the vehicle under a condition in which a predetermined external force is applied to the vehicle; an actual attitude state determining unit which determines an actual attitude-state quantity of the vehicle based on detection signals from the operated state detecting unit and the motion state detecting unit; an attitude-state quantity difference calculation unit which calculates a difference between the reference attitude-state quantity of the vehicle and the actual attitude-state quantity of the vehicle; a virtual external force calculation unit which corrects the external force based on the difference calculated by the attitude-state quantity difference calculation unit and feedbacks the corrected external force to the reference attitude-state quantity calculation unit, and an actuator control unit which determines a control target amount of an actuator generating a vehicle motion, a vehicle slip angle velocity calculation unit which calculates a vehicle slip angle velocity based on the lateral acceleration and the actual yaw rate, wherein the actuator control unit determines the target control amount of the actuator based on at least one of the vehicle slip angle velocity, the actual attitude-state quantity of the vehicle and the difference between the reference attitude-state quantity of the vehicle and the actual attitude-state quantity of the vehicle.