Patent ID: 9156452
Filing Date: 2015-10-13
Classification: B60G,B60T

Abstract:
1. A vehicle control device comprising: a plurality of friction brakes for sprung mass vibration damping control; at least one wheel speed sensor that detects wheel speed; a sprung mass state estimating unit that estimates a sprung mass state based on information in a prescribed frequency range of wheel speed detected by the wheel speed sensor; a friction brake orientation control unit that calculates a braking torque control amount for the friction brakes to bring the sprung mass state estimated by the sprung mass state estimating unit to a target sprung mass state, and the friction brake orientation control unit outputs the braking torque control amount to the friction brakes; an estimation accuracy deterioration detection unit that detects deterioration of estimation accuracy of a sprung mass state estimated by the sprung mass state estimating unit; and a deterioration friction brake orientation accuracy control unit that lowers the braking torque control amount, in cases in which deterioration of estimation accuracy has been detected by the estimation accuracy deterioration detection unit; the friction brake orientation control unit minimizes pitch motion of the vehicle; and the deterioration friction brake orientation accuracy control unit gradually lowers the braking torque control amount prevailing immediately prior to a time that deterioration of estimation accuracy was detected.