US 11,752,999 B2
Vehicle control apparatus
Yasunori Takahara, Hiroshima (JP); Kazunori Tsumura, Hiroshima (JP); Daisuke Umetsu, Hiroshima (JP); and Hirofumi Fujishita, Hiroshima (JP)
Assigned to MAZDA MOTOR CORPORATION, Hiroshima (JP)
Appl. No. 16/981,981
Filed by MAZDA MOTOR CORPORATION, Hiroshima (JP)
PCT Filed Mar. 15, 2019, PCT No. PCT/JP2019/010908
§ 371(c)(1), (2) Date Sep. 17, 2020,
PCT Pub. No. WO2019/188437, PCT Pub. Date Oct. 3, 2019.
Claims priority of application No. 2018-061246 (JP), filed on Mar. 28, 2018.
Prior Publication US 2021/0146914 A1, May 20, 2021
Int. Cl. B60T 8/1755 (2006.01); B60W 10/184 (2012.01); B60W 30/045 (2012.01); B60W 40/114 (2012.01); B60W 40/13 (2012.01)
CPC B60W 30/045 (2013.01) [B60T 8/17551 (2013.01); B60T 8/17554 (2013.01); B60W 10/184 (2013.01); B60W 40/114 (2013.01); B60W 2040/1346 (2013.01); B60W 2520/14 (2013.01); B60W 2540/18 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle control apparatus having a steering apparatus, a driving force controller configured to control a driving force of a vehicle, a brake configured to apply different braking forces to left and right wheels, and a controller, the vehicle control apparatus being characterized in that the controller is configured to:
execute vehicle attitude control for controlling the driving force controller to reduce the driving force of the vehicle, based on a turning operation of the steering apparatus;
increase a control amount of the vehicle attitude control as a steering speed of the steering apparatus during the turning operation increases;
execute vehicle yaw control for controlling the brake to apply to the vehicle a yaw moment in a direction opposite to a yaw rate generated in the vehicle, based on a returning operation of the steering apparatus; and
at time of execution of the vehicle yaw control after executing the vehicle attitude control, increase a control amount of the vehicle yaw control as the control amount of the vehicle attitude control increases.