To improve the controllability of vehicular traveling movement by controlling both the yaw moment and a steering gear ratio so as to suitably control balance between a vehicular yaw rate and vehicular lateral acceleration.
A vehicular target yaw rate γt is calculated based on a left steering angle θ and vehicle speed V (S20) to make an actual yaw rate γ follow a target yaw rate γt. A target steering gear ratio Nt for eliminating a response delay of the vehicular lateral acceleration Gy to the actual yaw rate (for making a vehicular slip angle β zero) and the target yaw moment Mt are calculated (S40) and target braking and driving forces Xfl, Xfr of left and right front wheels for achieving the target yaw moment Mt are calculated (S50). A steering gear ratio changing device 24 is controlled for the steering gear ratio N to be the target steering gear ratio Nt (60), and braking and driving forces of the left/right front wheels are controlled to be the target braking and driving forces Xfl, Xfr.
TSUCHIDA MITSUTAKA
YOGO SHIGEKAZU
YOSHISUE KANSUKE
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