Apparatus for acquiring lateral acceleration at the center of gravity of vehicle, and motion control apparatus for vehicle

A motion control apparatus for a vehicle equipped with a lateral acceleration sensor which is installed at a position remote from the center of gravity of the vehicle and which detects lateral acceleration of the vehicle generated at that position, and a yaw rate sensor for detecting yaw rate of the vehicle, the apparatus comprising:

• first calculation means for calculating an estimated yaw rate of the vehicle on the basis of the corrected center-of-gravity-position lateral acceleration obtained by use of a center-of-gravity-position lateral acceleration acquisition apparatus comprising correction means for correcting the detected lateral acceleration by making use of a first relationship among yaw rate of the vehicle, lateral acceleration generated at the center of gravity, and the detected lateral acceleration, and a second relationship between the yaw rate and the lateral acceleration generated at the center of gravity during a predetermined stable travel, the yaw rate being eliminated by combination of the first and second relationships, and acquisition means for acquiring the lateral acceleration generated at the center of gravity, as corrected center-of-gravity-position lateral acceleration, through the correction of the detected lateral acceleration;
• and
• motion control means for controlling a vehicle stabilization control for stabilizing motion of the vehicle, while using a first motion state quantity of the vehicle calculated by using the detected yaw rate and a second motion state quantity of the vehicle calculated by using the estimated yaw rate.