Patent ID: 8180541

Claim:
A vehicle braking/driving force control apparatus comprising: braking/driving force applying means that can apply braking/driving forces to wheels; means for detecting an amount of driving operation by an occupant; means for calculating a vehicle first target braking/driving force and a vehicle first target yaw moment, which should be generated by the braking/driving forces of the wheels, based at least on the amount of driving operation by an occupant; determining means that determines a priority between a braking/driving force and a yaw moment when either said first target braking/driving force exceeds a maximum braking/driving force attainable by the braking/driving forces of the wheels or said first target yaw moment exceeds a maximum yaw moment attainable by the braking/driving forces of the wheels, wherein: said determining means assigns the priority to the yaw moment when a magnitude of said first target yaw moment is less than a magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and when said first target braking/driving force is not less than a determination reference value, and said determining means assigns the priority to the braking/driving force when the magnitude of the first target yaw moment is less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and when said first target braking/driving force is less than said determination reference value; modifying means for modifying the first target braking/driving force and the first target yaw moment into a second target braking/driving force and a second target yaw moment, respectively, such that when the determining means assigns the priority to the yaw moment: the second target braking/driving force is not greater than the maximum braking/driving force attainable by the braking/driving forces of the wheels, and the second target yaw moment is as close to the first target yaw moment as possible without exceeding the maximum yaw moment attainable by the braking/driving forces of the wheels; and control means for controlling the braking/driving force applied to each wheel by said braking/driving force applying means such that the vehicle braking/driving force becomes the second target braking/driving force and the vehicle yaw moment becomes the second target yaw moment through the control of the braking/driving forces of the wheels.