Vehicle attitude control device
The vehicle attitude control device generates target yaw moment on the basis of the deviation between a standard yaw rate and an actual yaw rate and is applied to a vehicle driven with the target yaw moment. The vehicle attitude control device is provided with a detection speed processor that performs a process such that a vehicle speed gently changes, a limit yaw rate calculator that determines a limit yaw rate by dividing lateral acceleration by the processed vehicle speed, and a standard yaw rate corrector that corrects the standard yaw rate using the limit yaw rate when the standard yaw rate is higher than the limit yaw rate. A target yaw moment calculator generates target yaw moment on the basis of the deviation between the standard yaw rate corrected by the standard yaw rate corrector and the actual yaw rate.
1. A vehicle attitude control device including a provisional standard yaw rate calculator configured to obtain a standard yaw rate from a vehicle speed and a steering angle, a target yaw moment calculator configured to generate target yaw moment on the basis of a deviation between an actual yaw rate detected by a sensor and the standard yaw rate, and a braking/driving force allocator configured to apply braking force or driving force, required to achieve the target yaw moment, to each wheel, the vehicle attitude control device comprising:
a detection speed processor configured to perform a process such that a vehicle speed detected by a vehicle speed detector gently changes;
a limit yaw rate calculator configured to determine a limit yaw rate by dividing lateral acceleration by the processed vehicle speed; and
a standard yaw rate corrector configured to correct the standard yaw rate using the limit yaw rate when the standard yaw rate is higher than the limit yaw rate, wherein
the target yaw moment calculator generates the target yaw moment on the basis of a deviation between the standard yaw rate corrected by the standard yaw rate corrector and the actual yaw rate.
2. The vehicle attitude control device as claimed in claim 1 , further comprising a limit lateral acceleration calculator configured to set a product of a road surface friction coefficient estimated value and gravitational acceleration as limit lateral acceleration, wherein
the limit yaw rate calculator uses the limit lateral acceleration as the lateral acceleration for calculation.
3. The vehicle attitude control device as claimed in claim 1 , wherein the limit yaw rate calculator uses lateral acceleration detected by a lateral acceleration sensor, as the lateral acceleration for calculation.
4. The vehicle attitude control device as claimed in claim 1 , wherein a gradient limiter configured to limit a change amount of the vehicle speed per unit time as a process performed such that the vehicle speed gently changes is used as the detection speed processor.
5. The vehicle attitude control device as claimed in claim 4 , wherein, in the detection speed processor, a pass frequency band at a vehicle speed decrease side is set so as to be lower than a pass frequency band at a vehicle speed increase side as the process performed such that the vehicle speed gently changes.
6. The vehicle attitude control device as claimed in claim 4 , wherein the detection speed processor changes a limit value for a change amount of the vehicle speed per unit time in accordance with a depression change amount of an accelerator pedal per unit time, decreases a magnitude of a gradient limit value at a vehicle speed decrease side as a decrease rate of an accelerator pedal depression amount increases, and decreases a magnitude of a gradient limit value at a vehicle speed increase side as an increase rate of the accelerator pedal depression amount increases.
7. The vehicle attitude control device as claimed in claim 1 , wherein a vehicle to be controlled is a vehicle that allows one or both of braking force and driving force to be independently controlled for each wheel.