Motion control device for vehicle

摘要

A motion control device for a vehicle includes a braking means for applying a brake torque to each of a plurality of wheels of the vehicle, an avoidance control means for calculating a first target quantity, used for an avoidance control for applying the brake torque to each wheel via the braking means in order to avoid an emergency state of the vehicle, a stabilization control means for determining a target wheel, to which the brake torque is applied, out of the wheels and calculating a second target quantity used for a stabilization control for applying the brake torque to the target wheel in order to ensure a vehicle stability, and a brake control means for controlling the brake torque applied to a non-target wheel based on the first target quantity and controlling the brake torque applied to the target wheel based on the first and second target quantities.

主权项

1. A motion control device for a vehicle, comprising:
a braking means for applying a brake torque to each of a plurality of wheels of the vehicle; an avoidance control means for calculating a target deceleration used for an avoidance control for applying the brake torque to each of the plurality of the wheels via the braking means in order to avoid an emergency state of the vehicle in which a collision of the vehicle against a forward obstacle occurs; a stabilization control means for determining a target wheel out of the plurality of the wheels as a target of a supply of the brake torque and calculating a target slip velocity used for stabilization control for ensuring a stability of the vehicle by applying the brake torque to the target wheel via the braking means; and a brake control means for controlling the braking means on the basis of the target deceleration and the target slip velocity, wherein the motion control device for the vehicle further comprises a wheel speed obtaining means for obtaining an actual speed of each of the plurality of the wheels, and the brake control means controls the brake torque to be applied to a non-target wheel, which differs from the target wheel, on the basis of the target deceleration and controls the brake torque to be applied to the target wheel on the basis of the target slip velocity corresponding to the target wheel and the actual speed of the wheel corresponding to the non-target wheel, in a case where the stabilization control means performs the stabilization control after the avoidance control means performs the avoidance control.