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1. 发明专利

JP2009173176A Motion control device for vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：JP2009173176A
公开(公告)日：2009-08-06
申请号：JP2008014347
申请日：2008-01-25
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： YASUI YOSHIYUKI , SUZUKI MOTOJI , NAKANO KEITA , KODAMA HIROYUKI , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60T7/12 , B60T8/00
摘要： PROBLEM TO BE SOLVED: To provide a motion control device for a vehicle efficiently performing curve deceleration control by properly using the two kinds of curve deceleration controls of traveling assist control and a limit guard control.
SOLUTION: In the device, as the curve deceleration control, the traveling assist control (first control) for assisting deceleration operation by a driver and the limit guard control (second control) for ensuring vehicle traveling stability so as not to exceed a turning limit are performed. Based on the shape of the curve, proper speeds Vq1, Vq2 (Vq2>Vq1) for the first and second controls when passing the curve are determined. Based on Vq1 and Vq2, target vehicle speed characteristics Vt1, Vt2 for the first and second controls relative to a position on a road are operated, and based on the characteristics Vt1, Vt2, the first and second controls are selectively started-performed. At this time, the second control is started-performed regardless that it is during performing of the first control. Whereas, the first control is not performed during performing of the second control.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：通过适当地使用行驶辅助控制和极限保护控制的两种曲线减速控制来提供用于车辆的运动控制装置，以有效地执行曲线减速控制。解决方案：在装置中，作为曲线减速控制，用于辅助驾驶员进行减速操作的行驶辅助控制（第一控制）和用于确保车辆行驶稳定性的限位保护控制（第二控制）以不超过进行转弯极限。基于曲线的形状，确定通过曲线时第一和第二控制的适当速度Vq1，Vq2（Vq2> Vq1）。基于Vq1和Vq2，操作相对于道路上的位置的第一和第二控制的目标车辆速度特性Vt1，Vt2，并且基于特性Vt1，Vt2选择性地启动第一和第二控制。此时，无论在执行第一控制时是否启动第二控制。而在执行第二控制期间不执行第一控制。版权所有（C）2009，JPO＆INPIT

2. 发明专利

JP2009138923A Vehicle control device, vehicle control method, and computer program 有权
标题翻译：车辆控制装置，车辆控制方法和计算机程序
公开(公告)号：JP2009138923A
公开(公告)日：2009-06-25
申请号：JP2008068946
申请日：2008-03-18
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： KONDO YOSHITO , MIYAJIMA TAKAYUKI , TAKEUCHI ATSUSHI , YASUI YOSHIYUKI , KODAMA HIROYUKI
IPC分类号： F16H61/16 , B60K31/00 , B60R1/00 , B60R11/02 , B60R21/00 , B60T7/12 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/00 , B60W30/09 , B60W30/095 , B62D6/00 , B62D101/00 , B62D113/00 , F16H59/44 , F16H59/60 , G08G1/16
CPC分类号： B60W30/095 , B60T2201/02 , B60T2201/022 , B60T2201/024 , B60T2210/36 , B60W10/18 , B60W10/20 , B60W30/09 , B60W2050/0078 , B60W2550/402 , F16H61/16 , F16H61/21 , F16H2059/666
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control device, vehicle control method, and computer program, which prevents the occurrence of lateral skid or the like during a collision avoidance movement of a vehicle, and which reliably prevents a collision with an obstacle while vehicle behavior is being stabilized.
SOLUTION: An anti-collision control performed under circumstances where it is determined that there is a risk of a collision between a host vehicle and a preceding vehicle, is configured such that host vehicle information, preceding vehicle information, and surrounding road conditions are taken into consideration to determine whether the collision with the preceding vehicle can be avoided through a steering operation. A shift-hold control is applied to an AT 5 when the avoidance of the collision is determined possible, whereas a shift-down control is applied to the AT 5 when the avoidance is determined impossible.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆控制装置，车辆控制方法和计算机程序，其防止在车辆的避碰运动期间发生横向滑动等，并且可靠地防止与车辆的碰撞障碍物，而车辆行为正在稳定下来。解决方案：在确定存在本车辆和前一车辆之间的碰撞的风险的情况下执行的防碰撞控制被配置为使得主车辆信息，前车辆信息和周围道路状况考虑是否可以通过转向操作来避免与前一车辆的碰撞。当确定可以避免碰撞时，AT 5将移位保持控制应用到AT 5，而在不可能避免避免的情况下向AT5施加偏移控制。版权所有（C）2009，JPO＆INPIT

3. 发明专利

JP2009227013A Driving support device, driving support method, and driving support program 有权
标题翻译：驱动支持设备，驱动支持方法和驱动支持程序
公开(公告)号：JP2009227013A
公开(公告)日：2009-10-08
申请号：JP2008072822
申请日：2008-03-21
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： MIYAJIMA TAKAYUKI , OGAWA BUNJI , TAKEUCHI ATSUSHI , MARUYAMA MASAKI , KODAMA HIROYUKI , KOTO HIDEAKI
IPC分类号： B60W30/00 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W30/045 , F16H59/36 , F16H61/02 , F16H63/50
CPC分类号： B60W50/0098 , B60W10/06 , B60W10/10 , B60W10/184 , B60W2520/10 , B60W2520/14 , B60W2540/10 , B60W2540/30 , B60W2550/143 , B60W2550/402 , B60W2720/103 , B60W2720/106
摘要： PROBLEM TO BE SOLVED: To provide a technique for reliably decelerating the speed to a target value while considering an intention of a driver. SOLUTION: This driving support device or the like acquires a target speed at a prescribed position ahead of one's own vehicle, acquires a plurality of deceleration operation patterns different in deceleration for decelerating the speed to the target speed, selects one of the plurality of deceleration operation patterns based on a driving operation for controlling the vehicle speed of the own vehicle, and decelerates the vehicle speed of the own vehicle to the target speed before reaching the prescribed position, using the selected deceleration operation pattern as a reference. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：提供一种在考虑驾驶员的意图的同时将速度可靠地减速到目标值的技术。解决方案：该驾驶辅助装置等在自己的车辆前方的指定位置处获取目标速度，获取减速度不同的多个减速操作模式，以将速度减速到目标速度，选择多个基于用于控制本车辆的车速的驾驶操作的减速操作模式，并且使用所选择的减速操作模式作为参考，在达到规定位置之前将本车辆的车速减速到目标速度。版权所有（C）2010，JPO＆INPIT

4. 发明专利

JP2009220605A Driving support device, method and program 审中-公开
标题翻译：驱动支持设备，方法和程序
公开(公告)号：JP2009220605A
公开(公告)日：2009-10-01
申请号：JP2008064092
申请日：2008-03-13
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： TAKEUCHI ATSUSHI , MIYAJIMA TAKAYUKI , OGAWA BUNJI , KOTO HIDEAKI , KODAMA HIROYUKI , MARUYAMA MASAKI
IPC分类号： B60K31/00 , B60R1/00 , B60T7/12 , B60W10/02 , B60W10/04 , B60W10/06 , B60W10/18 , B60W10/184 , B60W30/00 , B60W40/08 , G01C21/00 , G01C21/26 , G08G1/16
CPC分类号： B60K28/06 , B60W30/18009 , B60W2540/12 , B60W2540/22 , B60W2550/141 , B60W2550/142 , B60W2550/143 , B60W2550/148 , B60W2550/402 , B60W2720/10
摘要： PROBLEM TO BE SOLVED: To perform proper control of a vehicle speed corresponding to a psychological state of a driver. SOLUTION: Factor information indicating a factor having a psychological effect on the driver of one's own vehicle when the vehicle travels on a road with a descending slope ahead of the own vehicle is acquired, overall psychological effect imposed on the driver when the vehicle travels on the road with the descending slope is acquired based on the factor information, and the vehicle speed is controlled by a vehicle speed control part loaded in the own vehicle according to the overall psychological effect. COPYRIGHT: (C)2010,JPO&INPIT
摘要翻译：要解决的问题：对驾驶员的心理状态对应的车速进行适当的控制。
解决方案：当车辆在具有自己车辆之前的下降坡道的道路上行驶时，获取指示对自己的车辆的司机具有心理影响的因素的因素信息，当车辆施加于驾驶员时的总体心理作用基于因子信息获取具有下降斜率的道路行驶，并且根据整体心理效应由加载在本车辆中的车辆速度控制部分控制车速。版权所有（C）2010，JPO＆INPIT

5. 发明专利

JP2012236597A Motion control device of vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：JP2012236597A
公开(公告)日：2012-12-06
申请号：JP2012158301
申请日：2012-07-17
申请人： Advics Co Ltd , 株式会社アドヴィックス , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社
发明人： YASUI YOSHIYUKI , NAKANO KEITA , KUKI YOSUKE , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60W30/14 , B60T7/12 , B60W40/072 , B60W40/076 , B60W40/105 , B60W40/109 , F16H61/02
摘要： PROBLEM TO BE SOLVED: To provide a motion control device of a vehicle that can execute deceleration control, considering the sense of security which the driver receives when the vehicle goes into the curve.SOLUTION: Four viewpoints of the curvature radius of curve, the uphill and downhill gradient (up and downgrade), the blind curve and the sudden decrease of the gradient parts that influence the sense of security of the driver are considered and permissible lateral acceleration reference value Gya is corrected, and permissible lateral acceleration Gyo is calculated and adjusted in this device. A proper vehicle speed when passing the curve is decided based on the adjusted permissible lateral acceleration and the curvature radius of the curve. When a prescribed deceleration control start condition is satisfied, deceleration control is started and executed and the vehicle speed is decelerated to the proper vehicle speed regardless of the presence or absence of the acceleration/deceleration operation of the driver. The deceleration control can be executed without giving sense of incompatibility to the driver, since the permissible lateral acceleration (proper vehicle speed) is decided in consideration of the sense of security of the driver.
摘要翻译：要解决的问题：考虑到当车辆进入曲线时驾驶员接收到的安全感，提供可执行减速控制的车辆的运动控制装置。解决方案：考虑曲线曲率半径，上坡和下坡坡度（上升和下降）的四个视点，影响驾驶员安全感的梯形部分的盲曲线和突然减小，并允许横向加速基准值Gya被校正，并且在该装置中计算和调整允许的横向加速度Gyo。通过曲线时的适当车速基于调整后的允许横向加速度和曲线的曲率半径来决定。当满足规定的减速控制开始条件时，无论驾驶员的加速/减速操作是否存在，开始执行减速控制，并且将车速减速到适当的车速。由于可以考虑驾驶员的安全感来决定容许的横向加速度（适当的车速），所以能够对驾驶员不感到不兼容的情况进行减速控制。版权所有（C）2013，JPO＆INPIT

6. 发明专利

JP2009179247A Motion controller for vehicle 审中-公开
标题翻译：车辆运动控制器
公开(公告)号：JP2009179247A
公开(公告)日：2009-08-13
申请号：JP2008021611
申请日：2008-01-31
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： YASUI YOSHIYUKI , NAKANO KEITA , KODAMA HIROYUKI , MARUYAMA MASAKI , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60W30/00 , B60T7/12 , B60W10/00 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/11 , B60W10/18 , B60W10/188 , B60W30/14 , F16H59/14 , F16H59/44 , F16H59/66 , F16H61/02 , F16H63/50
摘要： PROBLEM TO BE SOLVED: To provide a motion controller for a vehicle making a deceleration control for suppressing a feeling of strangeness to a driver when passing a curve existing in front of the vehicle. SOLUTION: When recognizing the existence of a curve while performing constant-speed control for keeping a vehicle speed Vx to a set vehicle speed Vo, the motion controller for a vehicle calculates a target vehicle speed characteristic Vt (A-B line) for decelerating the vehicle to the vehicle speed Vq at the point Pcr, based on "a decrement characteristic of the vehicle speed determined based on preliminary stored prime motor braking torque characteristics and preliminary set shift patterns of a transmission", an appropriate vehicle speed Vq for curve traveling, and a target point Pcr for attaining the vehicle speed Vq. Then, when a relationship between relative positions of the curve and the vehicle, and the vehicle speed Vx satisfies the target vehicle speed characteristic Vt (point Pcs 1), deceleration control is started/performed. Under deceleration control, the prime motor braking torque is applied to the vehicle, and the transmission is shifted down according to the shift patterns. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种用于制造减速控制的车辆的运动控制器，用于当通过存在于车辆前方的曲线时抑制驾驶员的陌生感。解决方案：车辆运动控制器在进行用于将车速Vx维持在设定车速Vo的恒定速度控制时识别曲线的存在时，计算用于减速的目标车速特性Vt（AB线）基于“基于预先存储的主电机制动转矩特性和变速器的初步设定换档模式确定的车速的减小特性”，将车辆调整到点Pcr处的车速Vq，用于曲线行驶的适当车速Vq 以及用于获得车速Vq的目标点Pcr。然后，当曲线的相对位置与车辆之间的关系以及车速Vx满足目标车速特性Vt（点Pcs 1）时，开始/执行减速控制。在减速控制下，主电机制动转矩被施加到车辆，并且变速器根据换档模式向下移动。版权所有（C）2009，JPO＆INPIT

7. 发明专利

JP2009173105A Motion controller for vehicle 有权
标题翻译：车辆运动控制器
公开(公告)号：JP2009173105A
公开(公告)日：2009-08-06
申请号：JP2008012453
申请日：2008-01-23
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： YASUI YOSHIYUKI , NAKANO KEITA , KODAMA HIROYUKI , MARUYAMA MASAKI , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60W30/00 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W40/10 , B60W40/107 , B60W40/109 , B60W40/114
摘要： PROBLEM TO BE SOLVED: To provide a motion controller for a vehicle for accomplishing deceleration control giving less sense of incongruity to a driver when passing a curve existing in front of the vehicle.
SOLUTION: The motion controller for a vehicle determines, based on the shape of the curve, a reference point Pcr in the middle of a curve and an appropriate vehicle speed Vq when a vehicle passes the reference point Pcr. Based on the reference point Pcr and the appropriate vehicle speed Vq, a target deceleration characteristic of the vehicle speed (a target vehicle speed characteristic Vt) for a position on a road when vehicle is decelerated on the road in the front side from the reference point Pcr is calculated. The deceleration control is started at a point Pcs where the present vehicle speed Vx exceeds a vehicle speed corresponding to the present vehicle position obtained by the target vehicle speed characteristic Vt. The deceleration control is finished when the vehicle speed Vx reaches a predetermined range Hn including the appropriate vehicle speed Vq (point G). Following the termination of deceleration control, acceleration limit control for limiting vehicle acceleration over a predetermined period is performed.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供用于实现减速控制的车辆的运动控制器，当通过存在于车辆前方的曲线时，给驾驶员带来较少的不协调感。解决方案：车辆的运动控制器基于曲线的形状，当车辆通过参考点Pcr时，确定曲线中间的参考点Pcr和适当的车速Vq。基于参考点Pcr和适当的车速Vq，当车辆在前方的道路上从基准点减速时的道路上的位置的车速（目标车速特性Vt）的目标减速特性计算Pcr。在当前车速Vx超过与目标车速特性Vt获得的当前车辆位置相对应的车速的点Pcs开始减速控制，当车速Vx达到预定范围Hn时，减速控制结束，包括合适的车速Vq（点G）。在减速控制结束后，执行用于限制车辆加速度超过预定时间段的加速度限制控制。版权所有（C）2009，JPO＆INPIT

8. 发明专利

JP2009137562A Vehicle control device, vehicle control method, and computer program 审中-公开
标题翻译：车辆控制装置，车辆控制方法和计算机程序
公开(公告)号：JP2009137562A
公开(公告)日：2009-06-25
申请号：JP2008086132
申请日：2008-03-28
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： KONDO YOSHITO , MIYAJIMA TAKAYUKI , TAKEUCHI ATSUSHI , YASUI YOSHIYUKI , KODAMA HIROYUKI
IPC分类号： B60K31/00 , B60T7/12 , B60W10/04 , B60W10/10 , B60W10/18 , B60W10/184 , B60W10/20 , B60W30/00 , B60W30/09 , B60W30/095 , B62D6/00 , B62D101/00 , B62D113/00 , G08G1/16
CPC分类号： B60W30/095 , B60T2201/02 , B60T2201/022 , B60T2201/024 , B60T2210/36 , B60W10/18 , B60W10/20 , B60W30/09 , B60W2050/0078 , B60W2550/402 , F16H61/16 , F16H61/21 , F16H2059/666
摘要： PROBLEM TO BE SOLVED: To provide a vehicle control device, a vehicle control method, and a computer program capable of reducing impact when coming into contact with an obstacle by quickening the start timing of braking control.
SOLUTION: An anti-collision control performed under circumstances where it is determined that there is a risk of collision between a host vehicle and a preceding vehicle is configured such that host vehicle information, preceding vehicle information, and surrounding road conditions are taken into consideration to determine whether a collision with the preceding vehicle can be avoided through a steering operation (S21 to S25). If avoidance is determined possible, then a shift-hold control is applied to an AT 5, whereas if avoidance is determined impossible, then a shift-down control is applied to the AT 5.
COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种车辆控制装置，车辆控制方法和能够通过加快制动控制的开始定时来减少与障碍物接触的冲击的计算机程序。解决方案：在确定存在本车辆和前一车辆之间存在碰撞风险的情况下执行的防碰撞控制被配置为使得主车辆信息，前车辆信息和周围道路状况被采取考虑到通过转向操作来确定是否能够避免与前一车辆的碰撞（S21至S25）。如果可以确定回避，则将一个移位保持控制应用于AT5，而如果确定避免是不可能的，则向AT5应用向下调整控制。（C）2009，JPO和INPIT

9. 发明专利

JP2009179251A Motion controller for vehicle 有权
标题翻译：车辆运动控制器
公开(公告)号：JP2009179251A
公开(公告)日：2009-08-13
申请号：JP2008021627
申请日：2008-01-31
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： YASUI YOSHIYUKI , NAKANO KEITA , KUKI YOSUKE , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60W30/00 , B60T7/12 , B60W10/04 , B60W10/06 , B60W10/10 , B60W10/18 , B60W10/188 , B60W40/072 , B60W40/076 , B60W40/10 , B60W40/109 , G08G1/16
CPC分类号： B60W10/02 , B60T2201/16 , B60T2210/22 , B60T2210/24 , B60W10/06 , B60W10/11 , B60W10/184 , B60W2520/125 , B60W2550/143 , B60W2550/402 , B60W2720/103 , Y10T477/692
摘要： PROBLEM TO BE SOLVED: To provide a motion controller for a vehicle, making a deceleration control while considering a sense of security that a driver receives in approaching a curve. SOLUTION: In the motion controller for a vehicle, an allowable lateral acceleration Gyo is calculated and adjusted by correcting an allowable lateral acceleration reference value Gya while considering four viewpoints such as a curvature radius of a curve, uphill and downhill gradient (up-gradient/down-gradient), a blind curve, and a rapidly reduced part of the gradient, which influence a sense of security of a driver. Based on the adjusted allowable lateral acceleration and the curvature radius of a curve, an appropriate vehicle speed is determined in passing the curve. When predetermined deceleration control start conditions are satisfied, despite the existence of acceleration/deceleration operation of the driver, the vehicle speed is decreased to the appropriate vehicle speed by starting/performing the deceleration control. Thus, since the allowable lateral acceleration (that is, appropriate vehicle speed) is determined by considering a sense of security of a driver, the deceleration control is made without giving the driver a sense of discomfort. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了提供一种用于车辆的运动控制器，在考虑驾驶员在接近曲线中接收到的安全感的同时进行减速控制。解决方案：在车辆的运动控制器中，通过校正允许横向加速度基准值Gya来计算和调整允许横向加速度Gyo，同时考虑四个视点，例如曲线的曲率半径，上坡和下坡坡度（向上梯度/梯度），盲曲线以及梯度的快速减少的部分，这影响驾驶员的安全感。根据调整后的允许横向加速度和曲线的曲率半径，通过曲线确定合适的车速。当满足预定的减速控制开始条件时，尽管存在驾驶员的加速/减速操作，但是通过启动/执行减速控制将车速降低到适当的车速。因此，由于通过考虑驾驶员的安全感来确定允许的横向加速度（即适当的车速），所以进行减速控制，而不会给驾驶员带来不适感。版权所有（C）2009，JPO＆INPIT

10. 发明专利

JP2009173104A Motion control device for vehicle 有权
标题翻译：车辆运动控制装置
公开(公告)号：JP2009173104A
公开(公告)日：2009-08-06
申请号：JP2008012452
申请日：2008-01-23
申请人： Advics Co Ltd , Aisin Aw Co Ltd , アイシン・エィ・ダブリュ株式会社 , 株式会社アドヴィックス
发明人： YASUI YOSHIYUKI , SUZUKI MOTOJI , KOTO HIDEAKI , MIYAJIMA TAKAYUKI , KONDO YOSHITO , TAKEUCHI ATSUSHI
IPC分类号： B60T7/12 , B60T8/1755
摘要： PROBLEM TO BE SOLVED: To provide a motion control device for a vehicle capable of smoothly transferring control from curve deceleration control to vehicle stability control when starting of the vehicle stability control is determined during execution of the curve deceleration control. SOLUTION: In the device, the curve deceleration control for controlling wheel braking force based on a control amount for the curve deceleration control such that the vehicle can pass through a curve at a proper vehicle speed; and the vehicle stability control for controlling wheel braking force based on a control amount for the vehicle stability control so as to maintain yaw stability of the vehicle are selectively executed. When starting of the vehicle stability control is determined during execution of the curve deceleration control, and control is switched from the curve deceleration control to the vehicle stability control. After switching of control, the control amount for the curve deceleration control is added to the control amount for the vehicle stability control to operate a corrected control amount for the vehicle stability control, and the vehicle stability control is executed based on the corrected control amount. Thereby, variation is not generated on the total of vehicle braking force during switching of control. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：为了在执行曲线减速控制期间确定在车辆稳定性控制开始时确定能够平滑地将控制从曲线减速控制转移到车辆稳定性控制的车辆的运动控制装置。解决方案：在装置中，基于用于曲线减速控制的控制量来控制车轮制动力的曲线减速控制，使得车辆能够以适当的车速通过曲线; 并且选择性地执行用于基于用于车辆稳定性控制的控制量来控制车轮制动力以便保持车辆的偏航稳定性的车辆稳定性控制。当在执行曲线减速控制期间确定车辆稳定性控制时，并且将控制从曲线减速控制切换到车辆稳定性控制。在切换控制之后，将曲线减速控制的控制量加到用于车辆稳定性控制的控制量中，以操作用于车辆稳定性控制的校正控制量，并且基于校正的控制量来执行车辆稳定性控制。因此，在切换控制期间车辆制动力的总和不会产生变化。版权所有（C）2009，JPO＆INPIT

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