Patent ID: 7315777

Claim:
A vehicle control method comprising: calculating a first value of a physical quantity, for substantially uniformly maximizing the grip margin of each wheel, which relates to a tire force of each wheel and optimizes an effective road friction of each wheel, based on a target resultant force to be applied to a vehicle body in order to obtain vehicle body motion that a driver desires, and a constraint including as parameters a magnitude of a critical friction circle of each wheel; calculating, based on the calculated first value of the physical quantity relating to the tire force of each wheel, a first control variable for controlling braking force and driving force of each wheel, or a second control variable for controlling the first control variable and a steering angle of each wheel; and controlling (A) the braking force and driving force of each wheel based on the first control variable, or controlling (A) the braking force and driving force of each wheel and (B) the steering angle of each wheel based on the first and second control variables.