Patent ID: 8457858
Filing Date: 2013-06-04
Classification: B60W

Abstract:
1. A vehicle motion control apparatus, comprising: a lateral acceleration sensor configured to measure lateral acceleration; a maximum tire lateral force calculator configured to calculate maximum tire lateral forces of front and rear axles considering a nonlinearity with respect to a front-rear load shift and an influence of a friction circle according to driving/braking forces of the front and rear axles and road surface information; a first front/rear driving/braking force calculator configured to calculate the driving/braking forces of the front and rear axles that minimize an energy loss realizing a target steering characteristic as first front/rear driving/braking forces based on the driving/braking forces of the front and rear axles and the maximum tire lateral forces of the front and rear axles; a second front/rear driving/braking force calculator configured to calculate driving/braking forces of the front and rear axles that realize the target steering characteristic and maximize a sum of the maximum tire lateral forces of the front and rear axles as second front/rear driving/braking forces based on the driving/braking forces of the front and rear axles and the maximum tire lateral forces of the front and rear axles; a grip margin calculator configured to calculate a margin of a grip of the front and rear wheels as a grip margin based on a lateral acceleration evaluated based on a travel condition of the vehicle; a target driving/braking force calculator configured to calculate target driving/braking forces of the front and rear axles based on the first front/rear driving/braking forces and the second front/rear driving/braking forces, according to the grip margin; and a driving/braking force control unit that controls the driving/braking forces of the front and rear axles.