| 摘要 |
PROBLEM TO BE SOLVED: To improve vehicle behavioral stability by generating rather large feedback control quantity in a direction to restrain yawing behavior following a change of a road surface friction coefficient in the forwarding direction in an early stage at the time of detecting the change. SOLUTION: A controller 27 of a control device for a vehicle to carry out feedback control so as to match a target yawing momentum and a real yawing momentum with each other is input wheel speed VW1 , VW2 , VW3 , VW4 , a steering angleθ, a yaw rate Y, cross acceleration Yg, car speed V and master cylinder pressure PM/ C and corrects at least one of a target yaw rate and feedback control gain in a direction to restrain yawing behavior generated in accordance with a change of a road surface friction coefficient at the time of detecting the change of the road surface friction coefficient in the forwarding direction.
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