Motion controlling apparatus for a vehicle

A motion controlling apparatus for a vehicle, comprising:

• a control unit for controlling independently driving forces or a driving torques and/or braking forces or braking torques of wheels of a vehicle;
• a vehicle acceleration/deceleration instruction calculator for calculating a vehicle acceleration/deceleration instruction value on the basis of a lateral jerk of the vehicle;
• a first vehicle yaw moment instruction calculator for calculating a first vehicle yaw moment instruction value on the basis of the lateral jerk of the vehicle;
• and
• a second vehicle yaw moment instruction calculator for calculating a second vehicle yaw moment instruction value on the basis of lateral slip information of the vehicle,
• wherein the motion controlling apparatus further includes:
• a first mode under which acceleration/deceleration of the vehicle is controlled on the basis of the vehicle acceleration/deceleration instruction value that generates driving forces or driving torques and/or braking forces or braking torques of four wheels of the vehicle, the driving forces or driving torques for left wheels and that for right wheels being substantially equal to each other;
• a second mode under which yaw moment of the vehicle is controlled on the basis of the first vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of four wheels of the vehicle, the driving forces or driving torques for left wheels and that for right wheels being different from each other;
• and
• a third mode under which yaw moment of the vehicle is controlled on the basis of the second vehicle yaw moment instruction value that generates driving forces or driving torques and/or braking forces or braking torques of four wheels of the vehicle, the driving forces or driving torques for left wheels and that for right wheels being different from each other.