| 摘要 |
PROBLEM TO BE SOLVED: To provide a vehicle motion control device applying the optimum vehicle motion control in response to various vehicle travel states while maintaining the travel stability of a vehicle. SOLUTION: The actual behavior quantitiesδf, V detected by detecting sensors 4-10 are inputted to a target behavior quantity calculation section 12, and a travel state judgment section 12a judges the travel state based on the prescribed decision criterion. A selection section 12b selects the target characteristic information Kγ(V), Kβ(V),τ(V) corresponding to the travel state from a memory section 12c based on the judged result, applies them to a standard vehicle motion model 12d, and calculates the target yaw rateγdes and target vehicle body side slip angleβdes. A rear wheel steering angle control calculation section 16 calculates the rear wheel steering angleδrc to match the estimated yaw rateγest and estimated vehicle body side slip angleβest obtained by an estimated quantity estimation/calculation section 14 with the target yaw rateγdes and target vehicle body side slip angleβdes. A rear wheel steering angle control/limit section 18 limits the rear wheel steering angleδrc based on the prescribed allowable condition and controls rear wheels at the rear wheel steering angleδr* after limitation. |
