VEHICULAR MOTION CONTROLLER

PROBLEM TO BE SOLVED: To provide a vehicular motion controller not imparting an incongruity sense to a driver even when a signal from a sensor detecting an operation state amount or a motion state amount of a vehicle is abnormal. SOLUTION: This vehicular motion controller is configured to include a control unit 37 and sensors 2, 3, 4, 30, 31, 32, 33 or the like. An actual state amount acquisition part 52 inputs an actual vehicle body skid angle βz_act and an actual yaw rate γact to a deviation arithmetic part 55. A norm dynamic characteristic model arithmetic part 54 calculates a norm vehicle body skid angle βz_d and a norm yaw rate by use of a dynamic characteristic model, and inputs them to the deviation arithmetic part 55. A virtual external force arithmetic part 61 feeds a virtual external force Mv back to the norm dynamic characteristic model arithmetic part 54, based on a deviation outputted from the deviation arithmetic part 55. At that time, a virtual external force arithmetic control part 62 controls correction of the virtual external force based on a detection state of signals from the sensors. COPYRIGHT: (C)2011,JPO&INPIT