CPC B60W 30/045 (2013.01) [B60T 8/17551 (2013.01); B60T 8/17554 (2013.01); B60W 10/184 (2013.01); B60W 40/114 (2013.01); B60W 2040/1346 (2013.01); B60W 2520/14 (2013.01); B60W 2540/18 (2013.01)] | 20 Claims |
1. A vehicle control apparatus having a steering apparatus, a driving force controller configured to control a driving force of a vehicle, a brake configured to apply different braking forces to left and right wheels, and a controller, the vehicle control apparatus being characterized in that the controller is configured to:
execute vehicle attitude control for controlling the driving force controller to reduce the driving force of the vehicle, based on a turning operation of the steering apparatus;
increase a control amount of the vehicle attitude control as a steering speed of the steering apparatus during the turning operation increases;
execute vehicle yaw control for controlling the brake to apply to the vehicle a yaw moment in a direction opposite to a yaw rate generated in the vehicle, based on a returning operation of the steering apparatus; and
at time of execution of the vehicle yaw control after executing the vehicle attitude control, increase a control amount of the vehicle yaw control as the control amount of the vehicle attitude control increases.
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