FIG. 5A or 5B, and may include other parameters.

The operation amount arbitration unit 22 calculates an operation amount of each actuator based on the external information, the sensor information, and the target motion vector, and calculates a controllable range of the motion vector in the motion space based on action information from each actuator.

Here, an example of the controllable range of the motion vector set in the motion space of FIG. 5A including the three axes of the accelerations Ax, Ay, and Az by the operation amount arbitration unit 22 will be described with reference to FIGS. 6 and 7.

FIG. 6(a) illustrates a controllable range of the motion vector set by the operation amount arbitration unit 22 when the vehicle 1 travels at a constant speed, and is an example of an initial value of the controllable range. The controllable range illustrated here is set based on a specification of each actuator, and has, for example, a three-dimensional shape obtained by rotating a keyhole region illustrated in an Ax-Az plane of FIG. 6(b) around the Az axis. Note that, in FIG. 6(a), a lower flat ball portion is a settable range of the start point of the motion vector, and indicates that the accelerations in three directions need to be set within this range. In addition, an upper truncated cone portion is an inclinable range of the motion vector, and indicates that the roll angle φ and the pitch angle θ need to be set within this range. Therefore, when the vehicle 1 is traveling at a constant speed, the vehicle movement planning unit 21 generates a target motion vector that defines the vehicle movement within the controllable range of FIG. 6(a).

On the other hand, FIG. 7(a) illustrates the controllable range of the motion vector set by the operation amount arbitration unit 22 when the vehicle 1 accelerates and travels. During the acceleration of the vehicle 1, for example, a reserve power of the motor 12 that can be used for improving ride comfort and operation feeling is reduced, and thus, as illustrated in FIG. 7(b), an allowable range of a positive value of the front-rear acceleration Ax is narrowed. Therefore, the controllable range in FIG. 7(a) has a three-dimensional shape in which a positive direction side of the Ax axis is eroded as compared with FIG. 6(a). Therefore, when the vehicle 1 is in acceleration traveling, the vehicle movement planning unit 21 generates the target motion vector that defines the vehicle movement within the controllable range of FIG. 7(a) narrower than FIG. 6(a).

The motor control unit 23 controls each motor 12 based on operation amount information from the operation amount arbitration unit 22. The suspension control unit 24 controls each suspension 13 based on the operation amount information from the operation amount arbitration unit 22. The steering control unit 25 controls each steer 14 based on the operation amount information from the operation amount arbitration unit 22. The brake control unit 26 controls each brake 15 based on the operation amount information from the operation amount arbitration unit 22. The stabilizer control unit 27 controls each stabilizer 16 based on the operation amount information from the operation amount arbitration unit 22.

Here, considering the principle described with reference to FIG. 2 in which the braking/driving force Fx generates pitching, it can be seen that desired pitching can be actively generated by appropriately individually controlling the motor 12 and the brake 15. In addition, considering the principle described with reference to FIG. 3B in which the lateral force Fy causes rolling, it can be seen that desired rolling can be actively generated by appropriately individually controlling the steer 14. Furthermore, by appropriately controlling each of the suspensions 13 and the stabilizers 16, desired pitching or rolling can be actively generated. That is, it can be seen that the operation amount arbitration unit 22 can positively generate desired pitching or rolling by appropriately arbitrating the operation amount of each actuator.

In addition, the motor control unit 23 transmits the action information of each motor 12 to the operation amount arbitration unit 22. The suspension control unit 24 transmits the action information of each suspension 13 to the operation amount arbitration unit 22. The steering control unit 25 transmits the action information of each steer 14 to the operation amount arbitration unit 22. The brake control unit 26 transmits the action information of each brake 15 to the operation amount arbitration unit 22. The stabilizer control unit 27 transmits the action information of each stabilizer 16 to the operation amount arbitration unit 22.

Next, the control contents of the vehicle movement control device 2 of the present embodiment will be described with reference to the flowchart of FIG. 8.

First, in step S1, the driver operation information, the external information, the sensor information, and the initial value (for example, FIG. 6) of the controllable range of the motion vector are input to the vehicle movement planning unit 21.

Next, in step S2, the vehicle movement planning unit 21 calculates a target motion vector in accordance with the travel state based on the input driver operation information and the like (for example, steering information). The target motion vector calculated here may be, for example, a facial vector that defines a vehicle movement with six degrees of freedom, that is, an acceleration Gx in the front-rear direction, an acceleration Gy in the lateral direction, an acceleration Gz in the vertical direction, the roll angle φ, the pitch angle θ, and the yaw rate r as illustrated in FIG. 5A, or may be a facial vector that defines a vehicle movement with six degrees of freedom, that is, the acceleration Gx in the front-rear direction, the acceleration Gy in the lateral direction, the position Z in the vertical direction, the roll angle φ, the pitch angle θ, and the yaw rate r as illustrated in FIG. 5B.

In step S3, the vehicle movement planning unit 21 determines whether the calculated target motion vector is within the controllable range of the motion vector input from the operation amount arbitration unit 22. Then, when it is out of the range, the processing proceeds to step S4, and when it is within the range, the processing proceeds to step S