Vehicle posture control apparatus

摘要

In a posture control apparatus controlling the posture of a vehicle in yawing direction by independently controlling brakes of the wheels, intervention of a first understeer control suppressing an understeering tendency is carried out when the understeering tendency of the vehicle is stronger than a preset reference value. Moreover, intervention of a second understeer control, in which the control amount is lower than in the first understeer control, is carried out when the actual yaw rate does not make a predetermined change with respect to a change of a steering wheel angle, thus improving the sense of stability and the controllability felt by the driver.