Vehicle control apparatus, vehicle control method, and vehicle control system

A vehicle control method executed by a control unit mounted in a vehicle, the control unit acquiring various kinds of information including information about motion state of a vehicle, calculating control commands for activating an actuator unit based on the acquired information, and outputting the calculated control commands to the actuator unit, the vehicle control method comprising:

• executing, by the control unit, roll control on a vehicle based on driving and braking forces applied to road wheels of the vehicle, in the roll control, driving and braking forces are applied to the road wheels without longitudinal acceleration of the vehicle and jack-up force or jack-down force is selectively applied to each of the road wheels to generate an anti-roll moment against the roll moment caused by a turn, and
• outputting, by the control unit, a braking force control command such that first deceleration braking force applied to a turning outer front road wheel of the vehicle becomes greater than second deceleration braking force applied to a turning inner front road wheel of the vehicle and third deceleration braking force applied to a turning outer rear road wheel of the vehicle and becomes equal to or greater than fourth deceleration braking force applied to a turning inner rear road wheel of the vehicle, so as to reduce dive behavior toward the turning outer front road wheel caused by deceleration braking force when a deceleration request is received during the roll control.

A vehicle control system comprising:

• a driving unit that applies driving force to road wheels of a vehicle;
• a braking unit that applies braking force to the road wheels;
• and
• a control part that acquires various kinds of information including information about motion state of a vehicle, calculates control commands for activating an actuator unit based on the acquired information, and outputs the calculated control commands to the driving unit and braking unit,
• wherein the control part executes roll control in which driving and braking forces are applied to the road wheels without longitudinal acceleration of the vehicle and jack-up force or jack-down force is selectively applied to each of the road wheels to generate an anti-roll moment against the roll moment caused by a turn, and
• wherein the control part outputs a braking force control command to the braking unit such that first deceleration braking force applied to a turning outer front road wheel of the vehicle becomes greater than second deceleration braking force applied to a turning inner front road wheel of the vehicle and third deceleration braking force applied to a turning outer rear road wheel of the vehicle and becomes equal to or greater than fourth deceleration braking force applied to a turning inner rear road wheel of the vehicle, so as to reduce dive behavior toward the turning outer front road wheel caused by deceleration braking force when a deceleration request is received during the roll control.