Processor for a vehicle

1. A processor for a vehicle, comprising:

a vehicle yaw moment instruction calculator that calculates a vehicle yaw moment instruction value on the basis of a lateral jerk of the vehicle;

a mode under which yaw moment of the vehicle is controlled on the basis of the vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of wheels of the vehicle;

If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels;

If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels;

wherein the mode operates at least in transit region between daily region and limit region.

2. The processor according to claim 1 , wherein the mode includes one or both of:

a 2.1th mode, applied when product of vehicle lateral acceleration and the vehicle lateral jerk is positive, under which a yaw moment on the turning promotion side of the vehicle is controlled on the basis of a yaw moment instruction value at a vehicle turning promotion side serving as the vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle; and

a 2.2th mode, applied when the product of vehicle lateral acceleration and the vehicle lateral jerk is negative, under which a yaw moment instruction value on the vehicle stabilization side of the vehicle is controlled on the basis of a yaw moment instruction value on the vehicle stabilization side which is the vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle.

3. The processor according to claim 1 , further comprising a motor for generating a braking force or a braking torque, wherein the control unit includes a regenerator for regenerating electric power generated when the braking force or the braking torque is generated by the motor.

4. The processor according to claim 1 , wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when lateral acceleration of the vehicle increases but restores when the lateral acceleration of the vehicle decreases.

5. The processor according to claim 1 , wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when steering angle of the vehicle increases but restores when the steering angle of the vehicle decreases.

6. The processor according to claim 1 , wherein the vehicle yaw moment instruction value is generated on the basis of lateral acceleration and the lateral jerk of the vehicle and a predetermined gain, the lateral acceleration and the lateral jerk being generated from steering angle and velocity of the vehicle.

7. A processor for a vehicle, comprising:

a vehicle yaw moment instruction calculator that calculates a vehicle yaw moment instruction value on the basis of a lateral jerk of the vehicle;

wherein yaw moment of the vehicle is controlled under mode on the basis of the vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of wheels of the vehicle;

If the vehicle yaw moment instruction value generates the driving forces or the driving torques, the driving forces or driving torques are different between the left and right wheels;

If the vehicle yaw moment instruction value generates the braking forces or the braking torques, the braking forces or the braking torques are different between the left and right wheels;

wherein the mode operates at least in transit region between daily region and limit region.

8. The processor according to claim 7 , wherein the mode includes one or both of:

a 2.1th mode, applied when product of vehicle lateral acceleration and the vehicle lateral jerk is positive, under which a yaw moment on the turning promotion side of the vehicle is controlled on the basis of a yaw moment instruction value at a vehicle turning promotion side serving as the vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle; and

a 2.2th mode, applied when the product of vehicle lateral acceleration and the vehicle lateral jerk is negative, under which a yaw moment instruction value on the vehicle stabilization side of the vehicle is controlled on the basis of a yaw moment instruction value on the vehicle stabilization side which is the vehicle yaw moment instruction value, the vehicle yaw moment instruction value being calculated by the vehicle yaw moment instruction calculator using the lateral jerk of the vehicle.

9. The processor according to claim 7 , wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when lateral acceleration of the vehicle increases but restores when the lateral acceleration of the vehicle decreases.

10. The processor according to claim 7 , wherein the vehicle yaw moment instruction value is generated such that turning of the vehicle is promoted when steering angle of the vehicle increases but restores when the steering angle of the vehicle decreases.

11. The processor according to claim 7 , wherein the vehicle yaw moment instruction value is generated on the basis of lateral acceleration and the lateral jerk of the vehicle and a predetermined gain, the lateral acceleration and the lateral jerk being generated from steering angle and velocity of the vehicle.