A vehicle control apparatus has a steering wheel 6, an engine 4 for outputting a driving force of a vehicle 1, a brake apparatus 16 capable of applying different braking forces to left and right wheels, and a PCM 14 including a processor and the like. When executing vehicle yaw control, which controls the brake apparatus 16 to apply to the vehicle 1 a yaw moment in the direction opposite to the yaw rate generated in the vehicle 1, after executing vehicle attitude control for reducing an output torque of the engine 4 based on a turning operation of the steering wheel 6, when the control amount of the vehicle attitude control is large, the PCM 14 increases the control amount of the vehicle yaw control compared to when the control amount of the vehicle attitude control is not large.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

A braking force controller causes a first actuator unit to generate a target jerk when the target jerk is equal to or larger than a first jerk, causes the first actuator unit to generate the first jerk and a second actuator unit to generate a jerk obtained by subtracting the first jerk from the target jerk as an additional jerk when the target jerk is smaller than the first jerk and equal to or larger than the sum of the first jerk and a second jerk, and causes the first actuator unit to generate the first jerk and the second actuator unit to generate the second jerk as the additional jerk when the target jerk is smaller than the sum of the first jerk and the second jerk.

In a vehicle, application of hydraulic pressure in a hydraulic braking device is started, when an accelerator is turned on, and the accelerator is predicted to be turned off, and engine braking feeling is predicted to become insufficient, the engine braking feeling being deceleration feeling given to a driver when the accelerator is turned off and an engine brake is operated, and a predetermined condition that prediction time until the accelerator is turned off is shorter than dead time of a hydraulic pressure response of the hydraulic braking device is established. The hydraulic braking device generates a negative jerk in the vehicle when the accelerator is turned off upon lapse of dead time after application of the hydraulic pressure in the hydraulic braking device is started.

An object of the invention is to realize an M+ control which is suitable to a driving scene without depending on pedal operation information of a driver. A vehicle motion control device according to the invention sets an absolute value of deceleration generated in the vehicle in a period in which the lateral motion of the vehicle is predicted to be changed from a state where the vehicle takes the lateral motion to a state where the vehicle does not take the lateral motion to be smaller than that generated in a period in which the lateral motion of the vehicle is predicted to be changed from a state the vehicle takes one of right and left lateral motions to a state where the vehicle takes the other lateral motion.

A vehicle control apparatus according to the present invention outputs a signal regarding a target braking/driving force for guiding a vehicle in a target traveling direction to a braking/driving controller. The signal regarding the target braking/driving force is acquired based on information regarding a running route of the vehicle and a physical amount regarding a motion state of the vehicle. The vehicle control apparatus outputs a signal regarding a steering correction torque for correcting a steering torque according to a behavior of the vehicle to a steering force controller. The signal regarding the steering correction torque is acquired based on a vehicle-body slip angle of the vehicle and the target braking/driving force.

A vehicle is a vehicle on which an ADK is mountable. The vehicle includes: a VP that controls the vehicle in accordance with an instruction from the ADK; and a VCIB that serves as an interface between the ADK and the VP. The VP outputs a brake pedal position signal in accordance with an amount of depression of a brake pedal by a driver, and outputs a brake pedal intervention signal, to the ADK through the VCIB. The brake pedal intervention signal indicates that the brake pedal is depressed, when the brake pedal position signal indicates that the amount of depression is larger than a threshold value, and indicates beyond autonomy deceleration of the vehicle, when a deceleration request in accordance with the amount of depression is higher than a system deceleration request.

A brake system comprises: a caliper housing having a bore formed therein; a brake piston slidably positioned in the bore of the caliper housing; and a spindle/nut assembly associated with the brake piston. The spindle/nut assembly comprises: a spindle; a spindle nut operably engaged with the spindle; and a disc type spring comprising a curved plate radially surrounding the spindle. The disc type spring is disposed between the spindle nut and the spindle to provide a resilient force between the spindle nut and the spindle. The disc type spring prevents the hard stop of the brake piston to the spindle/nut assembly and provide a soft stop. The disc type spring decreases a shock to the brake system, increases the durability of the spindle/nut assembly, and decrease the cost of the brake system.

A yaw rate control method comprises a yaw rate control function for stabilizing a vehicle carries out wheel-specific braking interventions based on a first reference yaw rate. A deactivation function is provided and activates the yaw rate control function as soon as at least one activation requirement is met. The activation requirement checks whether a longitudinal deceleration is greater than a longitudinal deceleration limit value, in particular by a sensor tolerance, a lateral acceleration is greater than a lateral acceleration limit value, in particular by a sensor tolerance, and a deviation between a second reference yaw rate and a measured yaw rate is greater than a yaw rate deviation limit value, in particular by a sensor tolerance.

A vehicle control apparatus has a steering wheel 6, an engine 4 for outputting a driving force of a vehicle 1, a brake apparatus 16 capable of applying different braking forces to left and right wheels, and a PCM 14 including a processor and the like. When executing vehicle yaw control, which controls the brake apparatus 16 to apply to the vehicle 1 a yaw moment in the direction opposite to the yaw rate generated in the vehicle 1, after executing vehicle attitude control for reducing an output torque of the engine 4 based on a turning operation of the steering wheel 6, when the control amount of the vehicle attitude control is large, the PCM 14 increases the control amount of the vehicle yaw control compared to when the control amount of the vehicle attitude control is not large.