Patent ID: 9487196
Filing Date: 2016-11-08
CPC Classification: B60T

Claim Text:
1. A motion control device for a vehicle, comprising: a braking means for applying a brake torque to a wheel of the vehicle, an actual turning state quantity obtaining means for obtaining an actual turning state quantity of the vehicle; a first recognizing means for calculating a first state quantity on the basis of the actual turning state quantity and recognizing whether or not the vehicle is in an oversteering tendency on the basis of the first state quantity; a main control means for controlling the brake torque via the braking means to restrict the oversteering tendency of the vehicle on the basis of a recognition result of the first recognizing means; a second recognizing means for calculating a second state quantity, which corresponds to a variable that differs from a variable corresponding to the first state quantity, on the basis of the actual turning state quantity and recognizing whether or not the vehicle is in the oversteering tendency on the basis of the second state quantity; and a preparatory control means for controlling the brake torque to compensate responsiveness of the braking means to the wheel, before the main control means starts controlling the brake torque, on the basis of a recognition result of the second recognizing means, wherein the second recognizing means recognizes a relatively fast yawing motion of the vehicle compared to a yawing motion to be recognized by the first recognizing means wherein the first recognizing means calculates the first state quantity on the basis of an interrelation between a state quantity indicating a magnitude of the yawing motion of the vehicle and a state quantity indicating a speed of the yawing motion of the vehicle, and the second recognizing means calculates the second state quantity on the basis of only the state quantity indicating the speed of the yawing motion of the vehicle.