To dissolve an over-steering tendency so as to stabilize the behavior of a vehicle by determining the distribution quantity of driving force or braking force by feedforward control, and decreasing the distribution quantity by feedback control at the time of detecting the over-steering state of the vehicle.
An electronic control unit U inputting signals of a vehicle speed sensor 10a, a steering angle sensor 10b, a lateral acceleration sensor 10c and a yaw rate sensor 10d is provided with a feedforward control part and a feedback control part, and during driving of a vehicle, a normal yaw rate is computed in the feedback control part. The deviation between an actual yaw rate and the normal yaw rate is then computed. This deviation is inputted to the feedforward control part so as to be converted into the driving force distribution quantity, and this distribution quantity is deducted from the driving force distribution quantity, computed in the feedforward control part, to make a correction. That is, when the driving force distribution quantity becomes excessive to generate an over-steering tendency to the vehicle, the driving force distribution quantity is corrected in a decrease direction.
MORI ATSUSHI
KITAMURA KATSUHIRO
HONDA KENJI
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