Vehicle motion control device

A vehicle running control device mounted in a four-wheel-drive vehicle, the vehicle running control device controlling running operation of the four-wheel-drive vehicle having:

• a first drive assembly including an internal combustion engine generating a first torque in a first output shaft coupled to a first pair of wheels;
• a second drive assembly including a motor generating a second torque in a second output shaft coupled to a second pair of wheels, the second drive assembly independent of the first drive assembly;
• and means for detecting states of components of the vehicle, the vehicle running control device comprising:
• a base request torque calculation unit calculating a first base request torque for the first drive assembly and a second base request torque for the second drive assembly in response to a request received from a driver of the vehicle;
• a correction torque calculation unit that estimates vibrational states of the components of the vehicle on the basis of the detected states of the components of the vehicle, and calculates a first correction torque for correcting the first base request torque, the first correction torque used to increase or decrease vibrations in a low-frequency band of vibration frequencies of up and down vibrations exerted to tires of the vehicle, and a second correction torque for correcting the second base request torque, the second correction torque used to increase or decrease vibrations in a high-frequency band of the vibration frequencies of the up and down vibrations;
• and
• first and second control units that control the internal combustion engine and motor, respectively, so that the first base request torque and the second base request torque are corrected with the first correction torque and the second correction torque, respectively, to provide a first base corrected request torque and a second base corrected request torque which are to be outputted from the first drive assembly and the second drive assembly, respectively.