Vehicle controller has device for controlling engine output based on permissible drive forces of individual wheels, device for controlling vehicle behavior based on permissible drive forces of individual wheels

摘要

The device has a road surface friction estimator, a ground force estimator, a lateral tire force estimator, a device for computing permissible drive forces for individual front/rear wheels based on the estimated values, an device for controlling engine output based on the permissible drive forces of the individual wheels and a device for controlling vehicle behavior based on the permissible drive forces of the individual wheels.