VEHICLE TRAVEL CONTROL DEVICE

摘要

A drop in turn responsiveness of a vehicle to a driver's steering operation caused by a limit on the operating speed of a steering wheel turning unit is covered by a turn assist yaw moment independent of turn lateral force of a steering wheel to thereby prevent the drop in turn responsiveness of the vehicle when the operating speed of the steering wheel turning unit is limited. A vehicle travel control device comprises a steering wheel turning unit capable of turning a steering wheel independently of steering of a driver and a braking unit as a turn assist yaw moment generating means capable of generating a turn assist yaw moment independently of turn lateral force of the steering wheel. When a predetermined controlled variable limiting condition is established and the controlled variable of the steering wheel turning unit is limited, the influence of the limit on the controlled variable of the steering wheel turning unit on the turn yaw moment of the vehicle can be reduced by changing braking force of each wheel and generating a yaw moment by a difference in braking force between right and left wheels.