A reference yaw rate of a vehicle in a relationship of a first-order lag with respect to a normative yaw rate is calculated by using a time constant of a first-order lag set in advance (S320), and when a magnitude of a deviation between an actual yaw rate and the reference yaw rate of the vehicle exceeds a threshold, vehicle motion control by controlling braking/driving force of each wheel is carried out so as to decrease the magnitude of the deviation (S420 to S500). A correction value (Δγcs) is acquired for preventing unnecessary execution of the vehicle motion control caused by the time constant different from an actual value resulting from a change in an overall weight of the vehicle or a change in a vehicle longitudinal direction position of a vehicle center of gravity (S330 to S390), and the threshold is corrected by using the correction value (S420).
TRAVEL MOTION CONTROL DEVICE FOR VEHICLE
2016-01-21
Patent
Electronic Resource
English
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 / B60T Bremsanlagen für Fahrzeuge oder Teile davon , VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF / B62D MOTOR VEHICLES , Motorfahrzeuge |
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