Vehicle behavior control apparatus

A vehicle behavior control apparatus comprising:

• a force generating mechanism which makes front wheels and rear wheels of a vehicle generate a driving force or a braking force, independently from each other;
• suspension mechanisms, each of which connects each of said front wheels and said rear wheels, both arranged as unsprung articles of said vehicle, to a vehicle body arranged as a sprung article of said vehicle;
• and
• a control section which controls said driving force or said braking force that said force generating mechanism makes said front wheels and said rear wheels generate, in accordance with behaviors of said vehicle body;
• wherein,
• said force generating mechanism makes wheels provided separately from said front and said rear wheels generate a driving force or a braking force, independently,
• said control section:
• obtains a state of a movement of said vehicle body when said vehicle is running;
• calculates, based on said obtained state of said movement, a plurality of target movement state amounts for controlling at least behaviors which are coupled with each other among behaviors of said vehicle body;
• calculates said driving force or said braking force that said force generating mechanism makes said front and rear wheels generate, and said driving force or said braking force that said force generating mechanism makes said wheels provided separately from said front and rear wheels generate, such that a plurality of said calculated target movement state amounts are achieved;
• and
• controls an operation of said force generating mechanism using signals indicative of said calculated driving force or said calculated braking force that said force generating mechanism makes said front and rear wheels generate, and a signal indicative of said calculated driving force or said calculated braking force that said force generating mechanism makes said wheels provided separately from said front and rear wheels generate.