Vehicle motion control apparatus

A vehicle motion control apparatus comprising:

• an operated state detecting unit configured to detect an operated state quantity of a vehicle given by a driver;
• a motional state detecting unit configured to detect a motional state quantity of the vehicle;
• a reference attitude-state quantity calculating unit configured to calculate a reference attitude-state quantity of the vehicle corresponding to the operated state quantity of the vehicle and the motional state quantity of the vehicle based on a motional model of the vehicle in a condition in which a predetermined external force is applied to the vehicle;
• an actual attitude-state determining unit configured to determine an actual attitude-state quantity of the vehicle based on a detection signal from the operated state detecting unit and a detection signal from the motional state detecting unit;
• an attitude-state-quantity deviation calculating unit configured to calculate a deviation of the actual attitude-state quantity of the vehicle from the reference attitude-state quantity of the vehicle;
• a virtual external-force calculating unit configured to make a correction of the external force based on the deviation calculated by the attitude-state-quantity deviation calculating unit and feed back the external force with the correction to the reference attitude-state quantity calculating unit;
• an actuator control unit configured to determine, based on the deviation calculated by the attitude-state-quantity deviation calculating unit, the drive amount of an actuator which generates a motion of the vehicle;
• and
• a virtual-external-force-calculation controlling unit configured to control the correction of the external force by the virtual external-force calculating unit based on a detection condition of the operated state detecting unit or the motional state detecting unit.