Patent ID: 7274982
Filing Date: 2007-09-25
Classification: B60T,B60W

Abstract:
1. A vehicle motion control system comprising: plural actuators, each actuator configured to generate a turning moment in the vehicle; a steering angle detecting device which detects a steering angle input by a driver; a vehicle speed detecting device which detects a vehicle speed; a yaw rate detecting device which detects a yaw rate of a vehicle; a sideways slip angular velocity detecting device which detects a sideways slip angular velocity of the vehicle; a reference yaw rate calculating device which calculates a reference yaw rate intended by the driver based on the steering angle detected by the steering angle detecting device and the vehicle speed detected by the vehicle speed detecting device; a yaw rate deviation calculating device which calculates a yaw rate deviation, the yaw rate deviation comprising a deviation between the reference yaw rate calculated by the reference yaw rate calculating device and the yaw rate detected by the yaw rate detecting device; and a control amount determining device which, based on the value detected by the sideways slip angular velocity detecting device and the value calculated by the yaw rate deviation calculating device, is capable of selecting an appropriate actuator from the group of plural actuators, and which is capable of determining a control amount of the selected actuator, wherein in a first state in which an absolute value of the reference yaw rate is larger by a first predetermined value or more than an absolute value of the detected yaw rate, the control amount determining device selects, based on the yaw rate deviation calculated by the yaw rate deviation calculating device, one of the actuators which generates an inward turning moment in the vehicle, and determines a first control amount of the selected actuator, wherein in a second state in which an absolute value of the sideways slip angular velocity detected by the sideways slip angular velocity detecting device exceeds a second predetermined value, the control amount determining device selects, based on the sideways slip angular velocity, one of the actuators which generates an outward turning moment in the vehicle, and determines a second control amount of the selected actuator, and wherein when the first and second states occur at the same time, the control amount determining device