Patent ID: 7676314
Filing Date: 2010-03-09
Classification: B60T,B60W

Abstract:
1. A motion control apparatus for a vehicle comprising: vehicle-body speed obtaining means for obtaining a vehicle-body speed of the vehicle; steering-member operating amount obtaining means for obtaining an operating amount of a steering member of the vehicle which changes a steering angle of steerable wheels of the vehicle; actual lateral acceleration related quantity obtaining means for obtaining, as an actual lateral acceleration related quantity, an actual value of a lateral acceleration related quantity indicating the extent of turning of the vehicle; target lateral acceleration related quantity calculating means for calculating a target lateral acceleration related quantity which is a target value of the lateral acceleration related quantity in accordance with the vehicle-body speed, in such a manner that when the vehicle-body speed is at least a prescribed value, the absolute value of the target lateral acceleration related quantity is equal to or less than the absolute value of a reference lateral acceleration related quantity which is a reference value of the lateral acceleration related quantity determined by a prescribed rule based on at least the vehicle-body speed and the steering-member operating amount and when the vehicle-body speed is less than the prescribed value, the absolute value of the target lateral acceleration related quantity is greater than or equal to the absolute value of the reference lateral acceleration related quantity; wherein the reference lateral acceleration related quantity is a theoretical value of the lateral acceleration related quantity acting on the vehicle when the vehicle is turning in a state in which the steering-member operating amount and the vehicle-body speed are both constant, which theoretical value is calculated using a model of vehicle motion based on the steering-member operating amount and the vehicle-body speed; and braking force control means for controlling a braking force applied to each of front and rear wheels of the vehicle so that the actual lateral acceleration related quantity approaches the target lateral acceleration related quantity.