| 摘要 |
PROBLEM TO BE SOLVED: To positively restrain side slipping of a vehicle, even in the executed state of acceleration slip restraining control of applying braking force to driving wheels. SOLUTION: Side slipping state of a vehicle is estimated, on the basis of lateral acceleration and a yaw rate (S20-S50). When the side slipping state is presumed, side slip state restraining control for applying braking force to a turning outside front wheel is executed (S120-S140). Whether the vehicle is in a grip state is discriminated, and when the vehicle is discriminated to be in the grip state, side slip state restraining control is inhibited (S60, S90), but when traction control of applying braking force to lateral rear wheels which are driving wheels, is performed even if the vehicle is discriminated to be in the grip state, side slip state restraining control is permitted (S70, S80).
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