Control apparatus for vehicle having cooperative control unit

A control apparatus for a vehicle comprising:

• at least two sensors selected from the group consisting of (a) a wheel speed sensor for detecting a wheel speed, (b) a steering information sensor for detecting steering information inputted by a driver, and (c) a stroke sensor for detecting a stroke of a suspension;
• at least two control units selected from the group consisting of (d) a braking/driving force control unit directly connected to said wheel speed sensor for controlling a braking force or a driving force for a wheel according to the wheel speed detected by said wheel speed sensor, (e) a steering control unit connected to said steering information sensor for controlling a steered amount of said wheel according to the steering information detected by said steering information sensor, and (f) a suspension control unit directly connected to said stroke sensor for controlling said suspension according to the stroke detected by said stroke sensor;
• a plurality of inertia force sensors for detecting a plurality of different inertia forces generated in said vehicle;
• and
• a momentum computing unit directly connected to said plurality of inertia force sensors and connected also to said at least two control units so that bidirectional communication is allowed, for computing a momentum of said vehicle according to said plurality of different inertia forces detected by said plurality of inertia force sensors and outputting a result of this computation, said momentum of said vehicle being different from at least two of said wheel speed, said steering information, and stroke and also different from said plurality of inertia forces.