Vehicle driving assistance device
During vehicle turning, during which a behavior stabilization control is not carried out, a vehicle driving assistance device carries out a turning assist control including: yaw moment control for increasing the amount of drive torque distributed to a drive wheel that, among two left and right drive wheels of the vehicle, is on the outer side of the turn by imparting braking torque to the drive wheel that is on the inner side of the turn; and a deceleration control for decelerating the vehicle. At this time, the driving assistance device calculates a control moment amount and calculates a control deceleration amount on the basis of a travel mode selected by operation of an operation unit.
1. A vehicle driving assistance device which is applied to a vehicle in which a vehicle control is performed according to a travel mode selected by operation of an operation unit among a plurality of travel modes, the vehicle driving assistance device comprising:
a first electronic control unit which executes a behavior stabilization control for enhancing stability of a behavior of the vehicle when the behavior of the vehicle becomes unstable at a time of turning of the vehicle; and
a second electronic control unit which executes a turning assist control including a yaw moment control for increasing a distribution amount of drive torque to drive wheels on an outer side of the vehicle when turning by imparting braking torque to drive wheels on an inner side of the vehicle when turning, at the time of turning the vehicle in which the behavior stabilization control is not executed, and the turning assist control includes a deceleration control for decelerating the vehicle,
wherein the second electronic control unit sets an increase amount of the braking torque to be imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control based on the travel mode selected by the operation of the operation unit, and the second electronic control unit sets a vehicle deceleration amount due to the execution of the deceleration control based on the travel mode selected by the operation of the operation unit.
2. The vehicle driving assistance device according to claim 1 , wherein the second electronic control unit sets a distribution coefficient according to the travel mode selected by the operation of the operation unit, and
the second electronic control unit increases the increase amount of the braking torque to be imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control when the distribution coefficient is greater than a predetermined value, and the second electronic control unit decreases the vehicle deceleration amount due to the execution of the deceleration control when the distribution coefficient is greater than a predetermined value.
3. The vehicle driving assistance device according to claim 2 , wherein, when the travel mode selected by the operation of the operation unit is a mode for relatively high-speed traveling as compared to other travel modes which are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be greater than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be smaller than those in a case where the other travel modes are selected.
4. The vehicle driving assistance device according to claim 3 , wherein, when the travel mode selected by the operation of the operation unit is a mode for traveling on a relatively low coefficient of friction road as compared to the other travel modes that are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be smaller than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be greater than those in a case where the other travel modes are selected.
5. The vehicle driving assistance device according to claim 2 , wherein, when the travel mode selected by the operation of the operation unit is a mode for traveling on a relatively low coefficient of friction road as compared to the other travel modes that are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be smaller than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be greater than those in a case where the other travel modes are selected.
6. The vehicle driving assistance device according to claim 1 , wherein, when the travel mode selected by the operation of the operation unit is a mode for relatively high-speed traveling as compared to other travel modes which are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be greater than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be smaller than those in a case where the other travel modes are selected.
7. The vehicle driving assistance device according to claim 6 , wherein, when the travel mode selected by the operation of the operation unit is a mode for traveling on a relatively low coefficient of friction road as compared to the other travel modes that are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be smaller than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be greater than those in a case where the other travel modes are selected.
8. The vehicle driving assistance device according to claim 1 , wherein, when the travel mode selected by the operation of the operation unit is a mode for traveling on a relatively low coefficient of friction road as compared to the other travel modes that are not selected,
the second electronic control unit sets the increase amount of the braking torque imparted to the drive wheels on the inner side when turning due to the execution of the yaw moment control to be smaller than those in a case where the other travel modes are selected, and sets the vehicle deceleration amount due to the execution of the deceleration control to be greater than those in a case where the other travel modes are selected.