Vehicle motion control device

摘要

In order to reliably assist a driver in emergency detour steering without causing a jerking forward motion of the vehicle during normal operation, a vehicle motion control device includes: a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, in which the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator.

主权项

1. A vehicle motion control device comprising:
a risk potential estimator that estimates a risk potential of a vehicle based on input external information and vehicle information; a vehicle longitudinal motion controller that generates a longitudinal motion control command of the vehicle based on a vehicle lateral jerk and a predetermined gain; and a gain adjustor that adjusts the gain, wherein the gain adjustor adjusts the gain based on the risk potential estimated by the risk potential estimator, the vehicle longitudinal motion controller includes
an acceleration/deceleration controller that calculates a longitudinal acceleration command value of the vehicle based on the vehicle lateral jerk and a predetermined first gain, and outputs the longitudinal acceleration command value,a yaw moment controller that calculates a yaw moment command value of the vehicle based on the vehicle lateral jerk and a predetermined second gain, and outputs the yaw moment command value, the gain adjustor adjusts the first gain or the second gain based on the risk potential estimated by the risk potential estimator.