Vehicle motion control device

1. A vehicle motion control device, comprising:

a mode setting means for obtaining a physical quantity representing a state of motion of a vehicle in a direction of lateral overturn and for being in an anti-lateral overturn mode when the obtained physical quantity is larger than or equal to a motion state threshold, the anti-lateral overturn mode being for suppressing the lateral overturn of the vehicle;

a turning state determination means for determining whether the vehicle is turning;

a brake force control means for increasing a brake force to be generated at an outside wheel of the vehicle when a condition is satisfied that the vehicle is in the anti-lateral overturn mode and the turning state determination means determines that the vehicle is turning; and

a loading weight determination means for detecting a loading weight based on at least one of a first relation or a second relation and determining whether the loading weight is larger than a predetermined threshold, wherein the first relation is a relation between a steering speed of the vehicle and a phase difference between a steering angle and a yaw rate of the vehicle, and the second relation is a relation between a yaw angular acceleration and a phase difference between the yaw rate and a lateral acceleration of the vehicle, wherein

the brake force control means performs anti-lateral overturn control for increasing a brake force to be generated at a front inside wheel of the vehicle in order to cause skidding at the front inside wheel when the condition for increasing the brake force to be generated at the outside wheel is satisfied, wherein the condition is that the vehicle motion control device is in the anti-lateral overturn mode and the turning state determination means determines that the vehicle is turning, and

the brake force control means increases the brake force for the front inside wheel only when the loading weight determination means determines that the loading weight is larger than the predetermined threshold.

2. The vehicle motion control device according to claim 1 , further comprising a skid determination means for determining whether the front inside wheel is skidding, wherein

the brake force control means increases, in order to cause the front inside wheel to skid, the brake force for the front inside wheel until the skid determination means determines that the front inside wheel is skidding.

3. The vehicle motion control device according to claim 1 , wherein the brake force control means increases the brake force to be generated at the outside wheel and the brake force to be generated at the front inside wheel at the same time when the condition for increasing the brake force to be generated at the outside wheel is satisfied.

4. The vehicle motion control device according to claim 1 , wherein the brake force control means increases, when the condition for increasing the brake force to be generated at the outside wheel is satisfied, the brake force to be generated at the front inside wheel and subsequently increases, after the front inside wheel starts skidding, the brake force to be generated at the outside wheel.

5. The vehicle motion control device according to claim 1 , further comprising a prognosis means for making a prognosis in advance that the condition for increasing the brake force to be generated at the outside wheel is going to be satisfied, wherein

the brake force control means increases, when the condition for increasing the brake force to be generated at the outside wheel is satisfied, the brake force for the front inside wheel to a marginal brake force above which the front inside wheel skids.