US 12,168,436 B2
Vehicle motion control apparatus, vehicle motion control method, and vehicle motion control system
Hidetoshi Arima, Hitachinaka (JP); and Satoshi Kashiwamura, Hitachinaka (JP)
Assigned to Hitachi Astemo, Ltd., Hitachinaka (JP)
Appl. No. 17/788,790
Filed by Hitachi Astemo, Ltd., Hitachinaka (JP)
PCT Filed Dec. 21, 2020, PCT No. PCT/JP2020/047634
§ 371(c)(1), (2) Date Jun. 24, 2022,
PCT Pub. No. WO2021/132134, PCT Pub. Date Jul. 1, 2021.
Claims priority of application No. 2019-234314 (JP), filed on Dec. 25, 2019.
Prior Publication US 2023/0026238 A1, Jan. 26, 2023
Int. Cl. B60W 30/02 (2012.01); B60W 10/18 (2012.01); B60W 10/20 (2006.01); B60W 60/00 (2020.01)
CPC B60W 30/02 (2013.01) [B60W 10/18 (2013.01); B60W 10/20 (2013.01); B60W 60/0053 (2020.02); B60W 60/0059 (2020.02); B60W 2520/00 (2013.01)] 11 Claims
OG exemplary drawing
 
1. A vehicle motion control apparatus comprising:
a control unit which controls a steering apparatus and a brake apparatus that are provided in a vehicle having front wheels,
wherein the control unit
acquires, based on information about a target traveling path on which the vehicle travels, a normative motion state amount necessary for the vehicle to trace the target traveling path, wherein the information about the target traveling path is acquired by an external information acquisition unit,
acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, based on the normative motion state amount and a motion state amount of the vehicle acquired from a vehicle motion state detection unit mounted in the vehicle,
acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle, based on the information about the target traveling path and the target motion state amount,
outputs a first control command for obtaining the target steering angle to the steering apparatus, and
outputs a second control command for obtaining the target brake force to the brake apparatus,
controls a brake force of each individual wheel of the vehicle based on the first control command, and
performs automated steering of the front wheels of the vehicle based on the second control command.