Vehicle behavior control apparatus, vehicle behavior control method, and non-transitory computer readable recording medium

A vehicle behavior control method for controlling a behavior of a vehicle,

• the vehicle comprising first to fourth suspensions provided on first to fourth wheels of the vehicle, respectively,
• the first to fourth suspensions including first to fourth actuators that apply vertical control forces to the first to fourth wheels, respectively,
• the first to fourth actuators including first to fourth transmission members that transmit reaction forces generated by deformation of the first to fourth transmission members to the first to fourth wheels, respectively,
• the first to fourth actuators configured to apply the vertical control forces to the first to fourth wheels by deforming the first to fourth transmission members, respectively,
• the vehicle behavior control method, when a failure occurs in the fourth actuator other than the i-th actuator (i=1 to 3) among the first to fourth actuators, including:
• calculating a required value of a behavior parameter representing the behavior of the vehicle in consideration of an offset reaction force, wherein the offset reaction force is a difference in a reaction force generated in the fourth transmission member due to at least one of acceleration, deceleration and steering of the vehicle between when the failure occurs and when the failure does not occur;
• converting the required value of the behavior parameter into an i-th required control force for the i-th actuator by conversion processing;
• and
• controlling the behavior of the vehicle by controlling the i-th actuator based on the i-th required control force.

A non-transitory computer readable recording medium on which a computer program for controlling a behavior of a vehicle is recorded,

• the vehicle comprising first to fourth suspensions provided on first to fourth wheels of the vehicle, respectively,
• the first to fourth suspensions including first to fourth actuators that apply vertical control forces to the first to fourth wheels, respectively,
• the first to fourth actuators including first to fourth transmission members that transmit reaction forces generated by deformation of the first to fourth transmission members to the first to fourth wheels, respectively,
• the first to fourth actuators configured to apply the vertical control forces to the first to fourth wheels by deforming the first to fourth transmission members, respectively,
• the computer program causing a computer to, when a failure occurs in the fourth actuator other than the i-th (i=1 to 3) among the first to fourth actuators, execute:
• calculating a required value of a behavior parameter representing the behavior of the vehicle in consideration of an offset reaction force, wherein the offset reaction force is a difference in a reaction force generated in the fourth transmission member due to at least one of acceleration, deceleration and steering of the vehicle between when the failure occurs and when the failure does not occur;
• converting the required value of the behavior parameter into an i-th required control force for the i-th actuator by conversion processing;
• and
• controlling the behavior of the vehicle by controlling the i-th actuator based on the i-th required control force.