Vehicle control apparatus

A vehicle control apparatus for performing vehicle control by a vehicle control actuator group based on a driver input, the apparatus comprising:

• a center of gravity six-component calculation unit for calculating a center of gravity six-component including a plane three-component and a three-component on spring as vehicle motion targets based on the driver input;
• a tire three-component calculation unit for calculating a tire three-component of four wheels of a vehicle based on the center of gravity six-component;
• and
• a vehicle control unit for performing vehicle control by the vehicle control actuator group based on a tire three-component of the four wheels,
• wherein the tire three-component calculation unit calculates the tire three-component of the four wheels from the center of gravity six-component by a coordinate transformation without repetition, which is normalization with driving stiffness of each wheel and cornering stiffness of each wheel, when a number of control requests in the vehicle control is less than degrees of freedom of the vehicle control actuator group.