| 摘要 |
A behavior control device of a vehicle having a device for estimating a drift-out value representative of drifting out state of the vehicle; a device for estimating slip angle of rear wheels; and a controller for controlling a brake system such that, when the drift-out value is greater than a threshold value determined therefor, a moment for yawing the vehicle body in a direction of suppressing the drifting out of the vehicle represented by the drift-out value is generated in accordance with the slip angle of the rear wheels, the yaw moment increases as the slip angle of the rear wheels increases, with a restriction that the yaw moment is no longer increased when the slip angle reaches a limit value representing a state that the cornering force of the rear wheels is substantially at a maximum.
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