Vehicle control system
A vehicle control system includes: a vehicle state detecting device configured to obtain vehicle state information that includes a steering angle of a front wheel; a pitch moment computation unit configured to compute an applied pitch moment to be applied to a vehicle based on the vehicle state information; a deceleration force computation unit configured to compute an applied deceleration force to be generated in the vehicle based on the applied pitch moment; and a deceleration force distribution unit configured to compute a brake device deceleration force to be generated by a brake device and a power plant deceleration force to be generated by a power plant based on the applied deceleration force and state information of the brake device and the power plant.
1. A vehicle controller for controlling a brake device and a power plant of a vehicle, comprising:
a processor coupled to at least one memory device, said processor programmed to:
receive, from at least one sensor, vehicle state information including a steering angle of a front wheel;
subsequent to receiving the vehicle state information, compute an applied pitch moment to be applied to the vehicle based on the vehicle state information;
subsequent to computing the applied pitch moment, compute an applied deceleration force to be generated in the vehicle based on the applied pitch moment;
subsequent to computing the applied deceleration force to be generated in the vehicle, compute a brake device deceleration force to be generated by the brake device and a power plant deceleration force to be generated by the power plant based on the applied deceleration force and state information of the brake device and the power plant;
determine whether a prescribed condition is satisfied;
compute the brake device deceleration force based on the applied deceleration force and to set the power plant deceleration force to zero in a case where the prescribed condition is satisfied; and
maintain the power plant deceleration force at zero until the applied deceleration force becomes zero, even if the vehicle is shifted from a state where the prescribed condition is satisfied to another state where the prescribed condition is not satisfied, in a case where the processor has set the brake device deceleration force to a value smaller than zero and has set the power plant deceleration force to zero.
2. The vehicle controller according to claim 1 , wherein the processor is further programmed to set the power plant deceleration force to the applied deceleration force and to set the brake device deceleration force to zero in a case where the prescribed condition is not satisfied and the applied deceleration force is equal to or less than a prescribed determination value.
3. The vehicle controller according to claim 2 , wherein the processor is further programmed to maintain the brake device deceleration force at zero until the applied deceleration force becomes zero, even if the vehicle is shifted from a state where the prescribed condition is not satisfied to another state where the prescribed condition is satisfied, in a case where the processor has set the power plant deceleration force to a value smaller than zero and has set the brake device deceleration force to zero.
4. The vehicle controller according to claim 2 , wherein the processor is further programmed to set the power plant deceleration force to the determination value, and to set the brake device deceleration force to a value obtained by subtracting the determination value from the applied deceleration force, in a case where the prescribed condition is not satisfied and the applied deceleration force is larger than the determination value.
5. The vehicle controller according to claim 1 , wherein the power plant is configured to retard an ignition timing to generate the applied deceleration force.