Vehicle motion controller

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 an acceleration operation member that operates the driving device, obtain an acceleration command value calculated in correspondence with an operated amount of the acceleration operation member and determine that operation interference by the driver has occurred when the acceleration command value is greater 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 acceleration command value becomes greater than the target acceleration corresponding to the required value, the vehicle motion controller prohibits the control amount from decreasing and permits the control amount to increase based on the difference by continuously executing the feedback control.

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, wherein

• the request value is an upper limit request value defined as an upper limit of a longitudinal force that indicates a force acting in a longitudinal direction of the vehicle,
• the vehicle motion controller is configured to:
• execute feedback control in which a difference between a target acceleration corresponding to the upper limit 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
• obtain an acceleration command value calculated in correspondence with an operated amount of an acceleration operation member that operates the driving device, and
• the vehicle motion controller prohibits the control amount from increasing in the feedback control executed during a period in which the acceleration command value is less than the target acceleration corresponding to the upper limit request value including a point in time at which the acceleration command value becomes less than the target acceleration corresponding to the upper limit required value and permits the control amount to increase based on the difference by continuously executing the feedback control in the feedback control executed during a period in which the acceleration command value is greater than or equal to the target acceleration corresponding to the upper limit request value including a point in time at which the acceleration command value becomes greater than or equal to the target acceleration corresponding to the upper limit required value.