US 12,485,905 B2
Vehicle motion controller
Shogi Fukukawa, Tokyo (JP); Michihiro Otsubo, Tokyo (JP); Kazuki Miyake, Okazaki (JP); and Akitsugu Sakai, Toyota (JP)
Assigned to ADVICS CO., LTD., Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by ADVICS CO., LTD., Kariya (JP); and TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 12, 2022, as Appl. No. 17/931,224.
Claims priority of application No. 2021-151871 (JP), filed on Sep. 17, 2021.
Prior Publication US 2023/0086872 A1, Mar. 23, 2023
Int. Cl. B60W 40/105 (2012.01); B60W 30/14 (2006.01); B60W 50/04 (2006.01)
CPC B60W 40/105 (2013.01) [B60W 30/143 (2013.01); B60W 50/045 (2013.01); B60W 2720/106 (2013.01)] 5 Claims
OG exemplary drawing
 
1. A vehicle motion controller employed in a vehicle that includes a driver assistance device that assists traveling of the vehicle, a driving device that transmits a driving force to the vehicle, and a braking device that applies a braking force to the vehicle, the vehicle motion controller automatically adjusting a traveling speed of the vehicle based on a request value from the driver assistance device, the vehicle motion controller configured to:
execute feedback control in which a difference between a target acceleration corresponding to the request value and an actual acceleration of the vehicle is an input, thereby calculating a control amount used to reduce the difference;
calculate a request longitudinal force based on the control amount and output the request longitudinal force to the driving device and the braking device, the request longitudinal force controlling the driving device and the braking device; and
in a case where a driver of the vehicle is operating a braking operation member that operates the braking device, obtain a braking command value calculated in correspondence with an operated amount of the braking operation member and determine that operation interference by the driver has occurred when the braking command value is less than the target acceleration corresponding to the request value,
wherein, in the feedback control executed during a period in which it is determined that the operation interference has occurred including a point in time at which the braking command value becomes less than the target acceleration corresponding to the required value, the vehicle motion controller prohibits the control amount from increasing and permits the control amount to decrease based on the difference by continuously executing the feedback control.