Drive and braking force control device for vehicle

A vehicle braking/driving force control apparatus comprising:

• braking/driving force applying means that can apply braking/driving forces to wheels;
• means for detecting an amount of driving operation by an occupant;
• means for calculating a vehicle first target braking/driving force and a vehicle first target yaw moment, which should be generated by the braking/driving forces of the wheels, based at least on the amount of driving operation by an occupant;
• determining means that determines a priority between a braking/driving force and a yaw moment when either said first target braking/driving force exceeds a maximum braking/driving force attainable by the braking/driving forces of the wheels or said first target yaw moment exceeds a maximum yaw moment attainable by the braking/driving forces of the wheels, wherein:
• said determining means assigns the priority to the yaw moment when a magnitude of said first target yaw moment is less than a magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and when said first target braking/driving force is not less than a determination reference value, and
• said determining means assigns the priority to the braking/driving force when the magnitude of the first target yaw moment is less than the magnitude of the maximum yaw moment attainable by the braking/driving forces of the wheels, and
• when said first target
• braking/driving force is less than said determination reference value;
• modifying means for modifying the first target braking/driving force and the first target yaw moment into a second target braking/driving force and a second target yaw moment, respectively, such that when the determining means assigns the priority to the yaw moment:
• the second target braking/driving force is not greater than the maximum braking/driving force attainable by the braking/driving forces of the wheels, and
• the second target yaw moment is as close to the first target yaw moment as possible without exceeding the maximum yaw moment attainable by the braking/driving forces of the wheels;
• and
• control means for controlling the braking/driving force applied to each wheel by said braking/driving force applying means such that the vehicle braking/driving force becomes the second target braking/driving force and the vehicle yaw moment becomes the second target yaw moment through the control of the braking/driving forces of the wheels.