| 摘要 |
A steering device is provided for controlling steering torque applied to a steering wheel of a vehicle. A braking device is provided for controlling longitudinal force applied to each wheel, and a control device is provided for performing at least one of an anti-skid control and a traction control. It is observed whether the control device is performing the control on a split road surface. The steering torque is controlled on the basis of a difference of longitudinal force applied to the right and left wheels, and a turning state amount deviation between a turning state amount and a desired amount thereof. The desired amount of turning state is calculated, on the basis of the turning state of the vehicle obtained when one of the anti-skid control and the traction control is performed on the split road surface.
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