Posture stabilization controller, the vehicle and the program

PROBLEM TO BE SOLVED: To achieve stable control by dynamically monitoring an operating state of a vehicle. SOLUTION: A controller 103 has target value calculating sections 212, 213 which set a target value of motion of the vehicle, control amount calculating sections 216, 217 which generate a control signal for controlling a control amount of an actuator which controls the motion and attitude of the vehicle, a driving state detecting section which detects a driving state of the vehicle, a target stability margin calculating section 218 which calculates rollover stability margin of the vehicle based on the target value and calculates a correction amount for stabilizing the vehicle based on the stability margin, an actual stability margin calculating section 219 which calculates the rollover stability margin of the vehicle based on the driving state of the vehicle and calculates the correction amount for stabilizing the vehicle based on the stability margin, an arbitration processing section 222 which corrects the generated control amount using the correction amount, and a driving section which controls the actuator using the corrected control amount. COPYRIGHT: (C)2010,JPO&INPIT