Vehicle motion control apparatus

1. A vehicle motion control apparatus configured to control a plurality of control objects in a same direction of vehicle motion control to achieve a requested control amount, the vehicle motion control apparatus comprising:

an availability acquisition unit which is configured to acquire an availability of each control object, which varies according to a state of the corresponding control object, the availability corresponding to a controllable range including a maximum control amount and a variation of the control amount of each control object;

a control object selection unit which is configured to determine priority of the control objects used for the vehicle motion control based on a priority determination condition, to select a control object from among the plurality of control objects,

wherein the control object selection unit includes a control object selection timing determination section configured to detect a change in the priority determination condition, and to cause the control object selection unit to reselect a control object at a timing of the change detection as a selection timing, and

wherein the control object selection timing determination section determines, as the selection timing, a timing when detecting a change in at least one of the availability of each control object, which varies according to the state of the corresponding control object, vehicle information indicative of a vehicle state, and a requested control amount and a requested variation of the control amount from an application executing the vehicle motion control.

2. The vehicle motion control apparatus according to claim 1 ,

wherein the control object selection unit uses the maximum control amount or the variation of the control amount, which correspond to the availability, as the priority determination condition, and

wherein the control object selection timing determination section determines a timing when a variation of the maximum control amount or the variation of the control amount, which correspond to the availability, per a unit time, exceeds a threshold value, as the selection timing.

3. The vehicle motion control apparatus according to claim 1 ,

wherein the control object selection unit uses the maximum control amount or the variation of the control amount, which correspond to the availability, as the priority determination condition, and

wherein the control object selection timing determination section predicts a situation where a control object to be selected should change, based on a change in the maximum control amount or the variation of the control amount, which correspond to the availability, and determines a timing when the situation is predicted, as the selection timing.

4. The vehicle motion control apparatus according to claim 1 ,

wherein the control object selection unit uses the vehicle information as the priority determination condition, and

wherein the control object selection timing determination section determines a timing when the vehicle state indicated by the vehicle information is changed, as the selection timing.

5. The vehicle motion control apparatus according to claim 1 ,

wherein the control object selection unit uses the vehicle information as the priority determination condition, and

wherein the control object selection timing determination section predicts a situation where a control object to be selected should change, based on a change in the vehicle state indicated by the vehicle information, and determines a timing when the situation is predicted, as the selection timing.

6. The vehicle motion control apparatus according to claim 5 ,

wherein the control object selection timing determination section determines a timing when a road surface state which is the vehicle state indicated by the vehicle information is changed, as the selection timing.

7. The vehicle motion control apparatus according to claim 1 ,

wherein the control object selection unit uses the request from the application as the priority determination condition, and

wherein the control object selection timing determination section acquires, as the request from the application, at least a request mode indicating either one of a comfort mode of performing the vehicle motion control while giving a priority to comfortableness and a safety mode of performing the vehicle motion control while giving a priority to safety, and determines a timing when the request mode is changed, as the selection timing.