To provide a vehicle attitude control device that can improve driving operability of a driver without complicating the configuration.SOLUTION: This attitude control device 4 includes: reference yaw rate calculation means 14 configured to calculate a reference yaw rate of a vehicle based on a rear wheel steering angle command value provided in accordance with a vehicle speed, a steering angle, and predetermined conditions; and target pitch motion setting means 15 configured to set a target pitch angle or a target pitch angular speed based on the vehicle speed, the steering angle, and the rear wheel steering angle command value. The attitude control device further includes a rear wheel steering angle command value correction means 16 configured to control a steering angle of a rear wheel and generate pitch motion by using vertical force applied via a rear wheel suspension to a vehicle body by lateral force generated on the rear wheel and thereby correct the rear wheel steering angle command value and output the rear wheel steering angle command value to a rear wheel steering angle control device so that a yaw rate generated on the vehicle is substantially equal to the reference yaw rate and so that a pitch angle or a pitch angular speed of the pitch motion generated on the vehicle is substantially equal to the target pitch angle or the target pitch angular speed.SELECTED DRAWING: Figure 7
【課題】構成を複雑化することなく運転者の運転操作性を向上させることができる車両の姿勢制御装置を提供する。【解決手段】この姿勢制御装置4は、車速、操舵角および定められた条件に従って与えられた後輪舵角指令値に基づいて、車両の基準ヨーレートを演算する基準ヨーレート演算手段14と、車速、操舵角および後輪舵角指令値に基づいて、目標ピッチ角または目標ピッチ角速度を設定する目標ピッチ運動設定手段15とを備える。さらに後輪の舵角を制御し、後輪に発生する横力によって後輪サスペンションを介して車体に作用する垂直方向の力を用いてピッチ運動を生じさせることで、車両に生じるヨーレートが基準ヨーレートに略一致し、且つ、車両に生じるピッチ運動のピッチ角またはピッチ角速度が目標ピッチ角または目標ピッチ角速度と略一致するように、後輪舵角指令値を補正し後輪舵角制御装置に出力する後輪舵角指令値補正手段16を備えた。【選択図】図7
VEHICLE ATTITUDE CONTROL DEVICE
車両の姿勢制御装置
2020-08-06
Patent
Electronic Resource
Japanese
VEHICLE ATTITUDE CONTROL METHOD AND VEHICLE ATTITUDE CONTROL DEVICE
European Patent Office | 2025
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