Motion control device for vehicle

摘要

A motion control device for a vehicle, including a braking means for applying a brake torque to a wheel of the vehicle and maintaining a traveling stability of the vehicle by controlling the braking means, the motion control device for the vehicle, includes a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle, a yaw angular acceleration obtaining means for obtaining a yaw angular acceleration of the vehicle, and a control means for controlling the brake torque on the basis of the steering angular velocity and the yaw angular acceleration.

主权项

1. A motion control device for a vehicle including an actual yaw rate obtaining means for obtaining an actual yaw rate of the vehicle and a braking means for applying a brake torque to a wheel of the vehicle, and maintaining a traveling stability of the vehicle by controlling the brake torque via the braking means on the basis of the actual yaw rate, the motion control device for the vehicle comprising:
a steering angular velocity obtaining means for obtaining a steering angular velocity of the vehicle; a maximum steering angular velocity calculating means for continuously storing values of the steering angular velocity and calculating a maximum steering angular velocity on the basis of chronologically-ordered stored values of the steering angular velocity; a determining means for determining a reference lateral acceleration on the basis of the maximum steering angular velocity so that the greater the maximum steering angular velocity is, the smaller the reference lateral acceleration is; an actual lateral acceleration obtaining means for obtaining an actual lateral acceleration acting on the vehicle; and a preparatory control means for applying a preparatory brake torque for compensating responsiveness of the braking means to the wheel in a case where the actual lateral acceleration exceeds the reference lateral acceleration wherein the preparatory control means is configured to apply the preparatory brake torque before a main control means determines that braking is needed.