Patent ID: 7788011

Claim:
A braking and drive force control apparatus for a vehicle having four actuators that independently drive four wheels that are suspended on a vehicle body by a suspension apparatus, the control apparatus being capable of independently controlling the braking and drive forces generated by the four actuators and comprising: a vehicle body upwards and downwards vibration sensing means which senses upwards and downwards vibration of the vehicle body caused by variation in ground contact load of at least one of the four wheels; and a braking and drive force control means which, based upon the sensed upwards and downwards vibration of the vehicle body, (i) determines a difference in the braking and drive forces that should be generated by at least one of the four actuators in order to suppress repeated upwards and downwards vibration of the vehicle body, and (ii) drives and controls the four actuators in accordance with the determined difference, so as to thereby apply a force to the vehicle body in a direction for suppressing the repeated upwards and downwards vibration of the vehicle body.