To improve regenerative efficiency in a state of automatically and individually controlling a braking force or a driving force of each wheel by motion control of a vehicle.
Final desired braking pressures of right and left front wheels are calculated based on a desired braking force of a control operation or a traction control of a driver (S20), a regeneratable torque KTf is calculated based on the smaller final desired braking pressure (S50, 60, and 80), a desired friction braking pressure achieving a desired braking force corresponding to the final desired braking force of the vehicle in cooperation with the regenerative braking about the wheel having the larger final desired braking pressure is calculated, and a desired friction braking pressure of another wheel is set zero (S70 and 90). A desired driving torque PTf of the front wheel's axle is calculated based on the desired braking forces of the right and left front wheels under the traction control (S100 and 110), the braking/driving force of a hybrid engine 10 is controlled based on final desired braking/driving torque KFTf (=PTf-KTf) of the front wheel's axle (S120), and friction braking pressures of the right and left front wheels are controlled to the desired friction braking pressure (S130).
NIWA SATORU
SAKAMOTO JUNICHI
HARA MASAHIRO
