Patent ID: 8639427

Claim:
A motion control device for a vehicle, comprising: a braking means for applying a brake torque to each of a plurality of wheels of the vehicle; an avoidance control means for calculating a first target quantity and a first actual quantity, which are used for an avoidance control for applying the brake torque to each of the plurality of the wheels via the braking means in order to avoid an emergency state of the vehicle in which a collision of the vehicle against a forward obstacle occurs, each of the first target quantity and the first actual quantity corresponding to the brake torque; a stabilization control means for determining a target wheel out of the plurality of the wheels as a target of a supply of the brake torque and calculating a second target quantity used for a stabilization control for applying the brake torque to the target wheel via the braking means in order to ensure a stability of the vehicle, the second target quantity corresponding to the brake torque; and a brake control means for calculating the brake torque to be applied to a non-target wheel, which differs from the target wheel, on the basis of the first target quantity corresponding to the non-target wheel and calculating the brake torque to be applied to the target wheel on the basis of a target quantity which is obtained by adding the first actual quantity corresponding to the non-target wheel and the second target quantity corresponding to the target wheel in a case where the stabilization control means performs the stabilization control after the avoidance control means performs the avoidance control.