Vehicle motion control device

A vehicle motion control device having a processor which performs an anti-skid control when a predetermined anti-skid starting condition is satisfied in any of four wheels during braking of a vehicle, the anti-skid control including setting a control mode from either one of a pressure reducing mode and a pressure increasing mode based on a slip rate of each of the four wheels, and performing a pressure reducing control of reducing a wheel cylinder pressure and a pressure increasing control of increasing the wheel cylinder pressure based on the set control mode, the vehicle motion control device comprising:

• a steering angle deviation calculating unit which is configured to calculate a steering angle deviation of the vehicle;
• a frictional coefficient calculating unit which is configured to calculate each of road surface frictional coefficients of a traveling road surface of left wheels among the four wheels and a traveling road surface of right wheels among the four wheels;
• a split determining unit which is configured to determine whether braking is performed on a split road surface where the road surface frictional coefficients between the left and right wheels are different from each other, based on a difference between the road surface frictional coefficients of the traveling road surfaces of the left wheels and the right wheels calculated by the frictional coefficient calculating unit;
• and
• a pressure increasing and reducing controlling unit which is configured to perform a split control when the pressure increasing mode is set as the control mode, the spilt control including applying a pressure increasing limitation of the pressure increasing control in the anti-skid control to a front wheel at a side of the traveling road surface having higher road surface frictional coefficient between the right and left wheels based on an absolute value of the steering angle deviation calculated by the steering angle deviation calculating unit such that a pressure increasing gradient in the pressure increasing control is smaller as the absolute value is larger.