A preset first-order lag time constant is used to calculate a reference yaw rate of a vehicle, said reference yaw rate having a first-order lag relationship with respect to a normative yaw rate (S320). If the magnitude of deviation between the reference yaw rate and the actual yaw rate of the vehicle exceeds a threshold value, a vehicle motion control is executed by controlling the braking and driving force of each wheel so as to reduce the magnitude of deviation (S420 to S500). A correction value ([Delta][Gamma]cs) is found in order to prevent unnecessary execution of the vehicle motion control, which is caused by changes in the vehicle gross weight and the position of the vehicle center of gravity in the vehicle longitudinal direction, and by the time constant differing from the actual value (S330 to S390). The threshold value is corrected using the correction value (S420).
Travel motion control device for vehicle
2015-11-04
Patent
Elektronische Ressource
Englisch
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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