Patent ID: 7904221

Claim:
A vehicle control apparatus comprising: at least one target control amount setting device configured to set target control amount that is used in running of a vehicle based on at least a driver's request; a specification determining device configured to determine whether a vehicle specification that changes in accordance with the at least a driver's request has changed; a plurality of correcting devices including a first correcting device and a second correcting device that have damping characteristics different from each other, and that correct the target control amount set by the at least one target control amount setting device to control a vibration of a sprung weight of the vehicle; and a switching device configured to switch control from the first correcting device to the second correcting device, in response to a determination by the specification determining device that the vehicle specification has changed, wherein the target control amount is a target drive force of the vehicle, the first correction device includes a first two-dimensional notch filter and the second correction device includes a second two-dimensional notch filter, and the first and second two-dimensional notch filters have individually different parameters for determining damping characteristics, wherein each of the first and second two-dimensional notch filters is configured so that a component that induces oscillation is controlled in a transfer function where an input is the target drive force and an output is a suspension stroke of the vehicle, and wherein a difference determining device configured to make a determination when a difference between an output value of the first correcting device and an output value of the second correcting device converges at or below a predetermined value, and wherein the switching device is additionally and add configured to respond to the determination when the difference is at or below the predetermined value such that the determination when the difference is at or below the predetermined value is additionally required before the switching device switches control from the first correcting device to the second correcting device.