Vehicle control device and vehicle control method

1. A vehicle control device comprising:

a state quantity detection device configured to detect a state quantity indicating a vehicle body orientation; and

a friction brake orientation control device configured to

minimize pitching motion in the vehicle body orientation by applying braking torque from a friction brake at least to a front wheel,

minimize bouncing motion in the vehicle body orientation by applying braking torque from the friction brake to four wheels,

control braking torque of the friction brake to at least the front wheel so that changes in a rate of vehicle body deceleration is equal to or less than a predetermined deceleration value and the pitching motion is minimized based on at least the predetermined deceleration value, and

prioritize minimizing the pitching motion over minimizing the bouncing motion while applying braking torque from the friction brake to the four wheels.

2. The vehicle control device according to claim 1 , wherein

the state quantity detection device is configured to detect the vehicle body orientation on the basis of values from wheel speed sensors for the four wheels.

3. The vehicle control device according to claim 1 , wherein

the driving state detection device is configured to estimate driving state on the basis of an estimable active skyhook model when a sprung mass speed and a stroke speed have positive and negative attributes.

4. The vehicle control device according to claim 1 , wherein

the driving state detection device is configured to estimate driving state using a four-wheel model constructed using a bounce term representing four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

5. The vehicle control device according to claim 1 , wherein

the state quantity detection device is configured to detect the vehicle body orientation on the basis of values from wheel speed sensors for the four wheels.

6. The vehicle control device according to claim 1 , wherein

the driving state detection device is configured to estimate driving state on the basis of an estimable active skyhook model when a sprung mass speed and a stroke speed have positive and negative attributes.

7. The vehicle control device according to claim 2 , wherein

the driving state detection device is configured to estimate driving state on the basis of an estimable active skyhook model when a sprung mass speed and a stroke speed have positive and negative attributes.

8. The vehicle control device according to claim 1 , wherein

the driving state detection device is configured to estimate driving state using a four-wheel model constructed using a bounce term representing four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

9. The vehicle control device according to claim 2 , wherein

the driving state detection device is configured to estimate driving state using a four-wheel model constructed using a bounce term representing four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

10. The vehicle control device according to claim 3 , wherein

the driving state detection device is configured to estimate driving state using a four-wheel model constructed using a bounce term representing four-wheel vertical movement, a pitch term representing front and rear wheel vertical movement, a roll term representing left and right wheel vertical movement, and a warp term representing diagonal wheel vertical movement.

11. The vehicle control device according to claim 1 , wherein

the friction brake orientation control device is further configured to

calculate a target deceleration value,

limit the target deceleration value within a jerk threshold range to obtain a limited target deceleration value, and

set braking torque based on the limited target deceleration value.

12. A vehicle control device comprising:

a sensor configured to detect a state quantity indicating a vehicle body orientation; and

a controller configured to

perform friction brake orientation control to minimize pitching motion in the vehicle body orientation by applying braking torque from a friction brake to at least a front wheel,

control braking torque of the friction brake to at least the front wheel so that changes in a rate of vehicle body deceleration is equal to or less than a predetermined deceleration value and the pitching motion is minimized based on at least the predetermined deceleration value, and

apply braking torque from the friction brake to four wheels to prioritize minimizing pitching motion over minimizing bouncing motion when performing friction brake orientation control.

13. A vehicle control method comprising:

detecting, using a sensor, a state quantity indicating a vehicle body orientation;

performing friction brake orientation control by minimizing, using a controller, pitching motion in the vehicle body orientation by applying braking torque from a friction brake to at least a front wheel;

controlling braking torque of the friction brake to at least the front wheel so that changes in a rate of vehicle body deceleration is equal to or less than a predetermined deceleration value and pitching motion is minimized based on at least the predetermined deceleration value; and

applying braking torque from the friction brake to four wheels to prioritize minimizing pitching motion over minimizing bouncing motion when performing friction brake orientation control.