| 摘要 |
PROBLEM TO BE SOLVED: To achieve quick route change, and to preferably secure vehicle stability after the route change in emergency steering for a drive to avoid obstacles or the like.SOLUTION: In the motion control device of the vehicle, when an emergency steering acquiring means (MKQ) acquires that the state is the emergency steering, a control means (CTL) increases a front wheel braking torque and a rear wheel braking torque. When the emergency steering is acquired (Kqs=1), the front wheel braking torque and the rear wheel braking torque are increased with characteristics (Ckq, Kp) in which a front rear ratio (Hzs) being a ratio of the rear wheel torque with respect to the front wheel braking torque is smaller than the front rear ratio (Cno, Ko) when the emergency steering is not acquired (Kqs=0). Further, the control means (CTL) makes an adjustment so that the time variation amount (Kr) of the rear wheel braking torque is smaller than the time variation amount (Kf) of the front wheel braking torque. |
