Vehicle motion control device

A vehicle motion control system capable of independently controlling a driving force and braking force of four wheels of a vehicle, the vehicle motion control system comprising:

• a plurality of sensors;
• and
• a central controller configured to communicate with the plurality of sensors, the central controller controlling the driving and braking force of the four wheels in accordance with at least the following modes:
• a first mode in which substantially the same driving force and braking force are generated and applied to left and right wheels among the four wheels of the vehicle based on a target longitudinal acceleration/deceleration control command that is coordinated with a lateral motion of the vehicle;
• and
• a second mode in which different driving forces and braking forces are generated and applied to the left and right wheels among the four wheels of the vehicle based on a target yaw moment derived from sideslip information of the vehicle, wherein
• the first mode is selected when the target yaw moment is equal to or less than a pre-defined threshold, and the second mode is selected when the target yaw moment is greater than the threshold, wherein
• the target longitudinal acceleration/deceleration control command, Gxc, is determined by
• G
• xc
• =
• -
• sgn
• ⁡
• (
• G
• y
• ·
• G
• .
• y
• )
• ⁢
• 
• G
• .
• y
• 
• +
• G
• x_DC
• (where Gy is vehicle lateral acceleration, Gy_dot is vehicle lateral jerk, Cxy is gain, T is a first-order lag time constant, s is a Laplace operator, and Gx_DC is an acceleration/deceleration command by a driver or that is automatically inputted based on external information).