VEHICLE MOTION CONTROL DEVICE

摘要

Provided is a vehicle motion control device which enables a reduction in uncomfortable feeling and an improvement in safety. Specifically provided is a vehicle motion control device capable of independently controlling the driving forces and braking forces of four wheels, said vehicle motion control device comprising a first mode (G-Vectoring control) in which approximately the same driving force and braking force are generated in right and left wheels among the four wheels on the basis of a forward/backward acceleration/deceleration control command linked with the lateral motion of a vehicle, and a second mode (sideslip prevention control) in which different driving forces and braking forces are generated in the right and left wheels among the four wheels on the basis of a target yaw moment calculated from sideslip information relating to the vehicle, wherein the first mode is selected when the target yaw moment is a predetermined threshold value or less, and the second mode is selected when the target yaw moment is greater than the threshold value.