Patent ID: 7162333

Claim:
An integrated vehicle motion control system which controls a plurality of actuators in an integrated manner by using a computer, comprising a command section being at a first level as one of a plurality of levels which are arranged in the form of hierarchy in a direction from the driver toward the plurality of actuators, the command section being adapted to determine a target vehicle state quantity based on driving related information relating to driving of a vehicle by a driver and an executing section being at a second level which is one of the plurality of the hierarchical levels, and is lower than the first level, the executing section being adapted to receive the target vehicle state quantity as a command from the command section, and execute the received command by means of at least one of the plurality of actuators wherein the command section includes an upper-level command section and a lower-level command section each of which is adapted to generate commands for controlling the plurality of actuators in an integrated manner, the upper-level command section determining a first target vehicle state quantity based on the driving related information, without taking account of dynamic behavior of the vehicle, and supplying the lower-level command section with the determined first target vehicle state quantity, the lower-level command section determining a second target vehicle state quantity in view of the dynamic behavior of the vehicle, based on the first target vehicle state quantity received from the upper-level command section, and supplying the executing section with the determined second target vehicle state quantity; and the upper-level command section, the lower-level command section and the executing section perform particular functions assigned to the respective sections, by causing the computer to execute a plurality of modules that are independent of each other on the software configuration.