Abstract: A steering torque sensor detects steering torque of a steering wheel. A steering angle sensor detects a steering angle of the steering wheel. An abnormality determining unit determines that a characteristic change is caused in the steering transmission system, when it is determined that the steering torque is smaller than or equal to a predetermined value and when the number of times when a difference between target vehicle behavior that is calculated from the steering angle and actual vehicle behavior is larger than or equal to a reference value is larger than or equal to a predetermined number of times during one steering.

Abstract: A steering torque sensor detects steering torque of a steering wheel. A steering angle sensor detects a steering angle of the steering wheel. An abnormality determining unit determines that a characteristic change is caused in the steering transmission system, when it is determined that the steering torque is smaller than or equal to a predetermined value and when the number of times when a difference between target vehicle behavior that is calculated from the steering angle and actual vehicle behavior is larger than or equal to a reference value is larger than or equal to a predetermined number of times during one steering.

Abstract: A brake control device that controls braking forces applied to wheels to stabilize the behavior of a vehicle turning a corner, and includes a turning condition detection unit detecting a turning condition of the vehicle; a braking amount setting unit setting braking amounts for the respective wheels based on the turning condition detected by the turning condition detection unit; a brake control unit applying braking forces to the wheels according to the braking amounts set by the braking amount setting unit; and a road surface friction coefficient estimation unit estimating a road surface friction coefficient of the road on which the vehicle is running. The braking amount setting unit changes upper limits of the braking amounts for the respective wheels according to the road surface friction coefficient when the vehicle is in a center differential lock mode or a direct four-wheel drive mode.

Abstract: A brake control device that controls braking forces applied to wheels to stabilize the behavior of a vehicle turning a corner, and includes a turning condition detection unit detecting a turning condition of the vehicle; a braking amount setting unit setting braking amounts for the respective wheels based on the turning condition detected by the turning condition detection unit; a brake control unit applying braking forces to the wheels according to the braking amounts set by the braking amount setting unit; and a road surface friction coefficient estimation unit estimating a road surface friction coefficient of the road on which the vehicle is running. The braking amount setting unit changes upper limits of the braking amounts for the respective wheels according to the road surface friction coefficient when the vehicle is in a center differential lock mode or a direct four-wheel drive mode.