Patent ID: 8086383

Claim:
A control device for a vehicle equipped with a drive manipulated variable detecting unit which detects a drive manipulated variable that indicates 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 manipulation of a predetermined motion of the vehicle, and an actuator device control unit which sequentially controls an operation of the actuator device, the vehicle control device comprising: an actual state amount grasping unit which detects or estimates a first actual state amount, which is a value of a predetermined first state amount related to a predetermined motion of an actual vehicle; a model state amount determining unit which determines a first model state amount, which is a value of the first state amount related to a predetermined motion of the vehicle on a vehicle model established beforehand as a model expressing dynamic characteristics of the vehicle, on the basis of at least the detected drive manipulated variable; a state amount error calculating unit 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; and an actual vehicle state amount error response control unit and a model state amount error response control unit which respectively determine an actual vehicle actuator operation control input for operating the actuator device of the actual vehicle and a vehicle model operation control input which is input to the model state amount determining unit for manipulating a predetermined motion of the 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 actuator device control unit is a unit which controls the operation of the actuator device on the basis of at least the determined actual vehicle actuator operation control input, the model state amount determining unit is a unit which determines the first model state amount on the basis of at least the detected drive manipulated variable and the determined vehicle model operation control input, and the model state amount error response control unit is a unit which determines the vehicle model operation control input such that the first state amount error is approximated to zero while restraining a restriction object amount, whose value is determined on the basis of at least one of a second state amount related to an actual vehicle motion and a second state amount related to a vehicle motion on the vehicle model, from deviating from a predetermined permissible range.