| 摘要 |
A target yaw rate setting unit of a control characteristics changing unit computes a first target yaw rate based on the radius of curvature of a curve. A target yaw rate setting unit of a braking force control unit computes a second target yaw rate based on driving conditions. When a cornering decision unit decides a turning intention, if the absolute value of the first target yaw rate is larger than the absolute value of the second target yaw rate, the second target yaw rate is corrected with the first target yaw rate, and the corrected second target yaw rate is outputted to a target yaw rate changing unit. A braking force control unit controls the braking force with the second target yaw rate corrected. <IMAGE> |
