To properly carry out stabilizing control of a posture of a vehicle, and to improve ride comfort in a bad road, in the vehicle having a posture control function.
A controller 103 for controlling the posture, controls the control amount of motors 131-139 controlling the motion and posture of the vehicle, on the basis of a road situation supplied from a sensor group 102. The controller 103 estimates the inclination of the road surface, obtains force projecting force added to the gravity center of the vehicle on a first vertical surface including a line connecting a rear wheel and a front left wheel, a second vertical surface including a line connecting a rear wheel and a front right wheel, and a vertical surface including a line connecting front wheels, and controls a right lean and a left lean to make the force projected on each vertical surface orthogonal to the road surface projected on each vertical surface.
KOBAYASHI HIDEYUKI
YANAKA TAKEHIRO
TOYOTA MOTOR CORP
Koji Yashima