| 摘要 |
PURPOSE: A behavior control device of a vehicle is provided to control the behavior of the vehicle accurately by estimating the correction operation of a driver to the vehicle operator and calculating the standard state according to the actual operation and the estimated operation. CONSTITUTION: The target braking force of each wheel is calculated in proportion to tread load of the wheel based on pressure of a master cylinder(S20), and remaining yaw moment is calculated based on deviation between the target braking force and the actual braking force(S80) in braking during traveling on the uneven road(S40). The steering angle is compensated with the modified steering angle estimated based on the remaining yaw moment(S100,S110). The deviation of the yaw rate from difference between the standard yaw rate and the actual yaw rate is calculated based on the modified steering angle(S120,S130). The behavior of the vehicle is decided based on the deviation of the yaw rate, and controlled to reduce the yaw rate deviation(S140-S160).
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