Patent ID: 7912610

Claim:
A control apparatus for a vehicle comprising: at least two sensors selected from the group consisting of (a) a wheel speed sensor for detecting a wheel speed, (b) a steering information sensor for detecting steering information inputted by a driver, and (c) a stroke sensor for detecting a stroke of a suspension; at least two control units selected from the group consisting of (d) a braking/driving force control unit directly connected to said wheel speed sensor for controlling a braking force or a driving force for a wheel according to the wheel speed detected by said wheel speed sensor, (e) a steering control unit connected to said steering information sensor for controlling a steered amount of said wheel according to the steering information detected by said steering information sensor, and (f) a suspension control unit directly connected to said stroke sensor for controlling said suspension according to the stroke detected by said stroke sensor; an inertia force sensor for detecting an inertia force generated in said vehicle; and a cooperative control unit directly connected to said inertia force sensor and connected also to said at least two control units so that bidirectional communication is allowed, for deciding and outputting a controlled variable or controlled correction variable of at least one of said at least two control units according to the inertia force detected by said inertia force sensor and according to the conditions controlled by said at least two control units.