To execute stabilizing control of a vehicle properly through steering control and deceleration control on the basis of an index indicating the transverse allowance of tires against a road.
According to the stabilizing control, a transverse allowance index monitoring means S1 monitors the index indicating the transverse allowance of the tires (FL, FR). On the basis of the result of monitoring, a movement control means M3 controls a steering control means M1 and a deceleration control means M2. When the index indicating the transverse allowance of the tires moves from the side of a large allowance, goes beyond a first threshold, and reaches the side of a small allowance, the monitoring means S1 controls the steering control means M1 so as to reduce a tire angle with regard to a relation between a steering angle and the tire angle. When the transverse allowance index further decreases, drops below a second threshold indicating less allowance than that indicated by the first allowance, and reaches the side of further smaller allowance, the monitoring means S1 controls the deceleration control means M2, in addition to steering control via the steering control means M1, in order to decelerate the vehicle.
SHINNO HIROAKI
MOMIYAMA MINEICHI
KATO HIROAKI
ONO HIDEKAZU
MURAKISHI YUJI
YASUI YOSHIYUKI
AISIN SEIKI
TOYODA MACHINE WORKS LTD