PROBLEM TO BE SOLVED: To provide a motion control device of a vehicle capable of improving drivability, stability, and riding comfort.SOLUTION: A motion control device of a vehicle includes: control means 405 that independently controls driving force of respective wheels of a vehicle 0; acceleration and deceleration command arithmetic means 402 that calculates an acceleration and deceleration command value on the basis of a lateral acceleration; first yaw moment command arithmetic means 403 that calculates a first vehicle yaw moment command value on the basis of the lateral acceleration; second yaw moment command arithmetic means 404 that calculates a second yaw moment command value on the basis of skidding information. The motion control device of the vehicle 0 has: a first mode in which substantially identical driving force is induced in left and right wheels out of four wheels on the basis of the acceleration/deceleration command value to control acceleration and deceleration; a second mode in which different driving force is induced in the left and right wheels out of the four wheels on the basis of the first yaw moment command value to control yaw moment; and a third mode in which different driving force is induced in the left and right wheels out of the four wheels on the basis of the second yaw moment command value to control the yaw moment.SELECTED DRAWING: Figure 24

    【課題】操縦性、安定性、さらには乗心地の向上が図れる車両の運動制御装置を提供する。【解決手段】車両0の各輪の駆動力を独立に制御する制御手段405と、横加加速度に基づいて加減速指令値を算出する加減速指令演算手段402と、横加加速度に基づいて第1の車両ヨーモーメント指令値を算出する第1のヨーモーメント指令演算手段403と、横すべり情報に基づいて第2のヨーモーメント指令値を算出する第2のヨーモーメント指令演算手段404と、を有し、加減速指令値に基づき4輪のうちの左右輪を略同一の駆動力を発生させて加減速を制御する第1のモードと、第1のヨーモーメント指令値に基づき4輪のうちの左右輪に異なる駆動力を発生させてヨーモーメントを制御する第2のモードと、第2のヨーモーメント指令値に基づき4輪のうちの左右輪に異なる駆動力を発生させてヨーモーメントを制御する第3のモードと、を有する車両0の運動制御装置。【選択図】図24


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    Title :

    MOTION CONTROL DEVICE OF VEHICLE AND MOTION CONTROL PROGRAM


    Additional title:

    車両の運動制御装置、及び運動制御プログラム


    Contributors:

    Publication date :

    2018-03-01


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF



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