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    • 7. 发明专利
    • Vehicle motion control device
    • JP3817922B2
    • 2006-09-06
    • JP25121298
    • 1998-09-04
    • トヨタ自動車株式会社
    • 竜昭 横山亮 田中
    • B60T8/1755B60T8/24B60T8/174B60T8/58B60W30/00B60W30/02
    • PROBLEM TO BE SOLVED: To carry out adequate movement control before the running condition of a vehicle enters a limit running area, as well as to carry out smooth movement control. SOLUTION: A car body slip angle β and its variation rate βd are operated (S100), an object car body slip angle βref and an object yaw rate γrefg after a guard processing are operated (S150), an object yaw moment YMhp, an object longitudinal force Fxt, and an object lateral force Fyt after a high-pass filter processing are operated (S200), object braking pressures Pwti of the wheels in order to accomplish the YNhp, Fxt, and Fyt are operated (S350), and the braking pressures of the wheels are controlled to make the braking pressure Pwi to an object braking pressure Pwti (S400). The object yaw moment YM before the high-pass filter processing is operated as the weight sum of the first object yaw moment Myr depending on a yaw rate deformation, and the second object yaw moment Msa depending on the car body slip angle, and the weight coefficient is set variable to make a weight coefficient Kt the smaller, as a limit condition evaluation amount A is made the larger.