To provide a vehicular integrated control device capable of enhancing the vehicular stability by integrally controlling each actuator of at least two of a steering system, a control system and a drive system at an optimum distribution according to the grip degree of each wheel.
In a vehicle of a four-wheel independent steering system, an electronic control device 11 operates the target yaw rate according to the vehicle speed V and the steering angle, and operates the target vehicle control value based on the target yaw rate and the actual yaw rate γ. The electronic control device 11 estimates the grip degrees 1-4 of each wheel to the road surface, and sets the distribution ratio of the target vehicular control value to actuators of a steering system, a braking system and a driving system according to the grip degrees of 1-4 of each wheel. The electronic control device 11 controls the actuators of each system according to the control command value At, the control command value Bt and the control command value Ct distributed according to the distribution ratio.
MOMIYAMA MINEICHI
KATO HIROAKI
KODAMA AKIRA
Makoto Onda
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