Abstract: A method of vehicle stability control including the steps of: a) applying a test braking pulse to a wheel on a first side of the vehicle and to a wheel on a second, opposite, side of the vehicle, the application of the test braking pulse comprising operating a brake actuator to apply a low level braking pressure to the wheel, b) measuring the rotational speed of both wheels during the test braking pulse, c) calculating a change in wheel speed during the test braking pulse for each wheel, d) calculating the difference between the change in speed of the wheel at the first side of the vehicle and the change in speed of the wheel at the second side of the vehicle, e) carrying out a stability control intervention if the said difference exceeds a predetermined threshold.

Abstract: A method and system for providing braking assistance in a motor vehicle after an initial collision involves detecting an initial collision, pre-charging a brake system, detecting an intent to brake on the part of a driver, and providing assistance to a braking process by means of a braking assistance system on the basis of the detection of the initial collision and the detection of intent to brake on the part of the driver.

Abstract: A brake assembly includes an operator brake pedal configured to be depressed at a brake pedal angle, and brake pedal linkage operatively connected to the operator brake pedal. The brake pedal linkage is configured to apply a braking force in response to the depression of the operator brake pedal. A brake pedal effort input is associated with the brake pedal angle, and a first rate of change of the brake pedal effort input with respect to the brake pedal angle may be associated with an initial range of motion of the operator brake pedal. A second rate of change of the brake pedal effort input with respect to the brake pedal angle may be associated with a subsequent range of motion of the operator brake pedal. The second rate of change may be greater than the first rate of change.

Abstract: An electric braking control apparatus for controlling an electric braking apparatus which includes a brake pad, a motor which generates a rotational torque, and a rotation/linear motion conversion mechanism which causes the brake pad to generate a pressing force based on the torque. The braking control apparatus includes an inverter which converts and outputs an electric current supplied from a power supply to the motor, and a microcomputer that receives power from the power supply, detects the value of a voltage applied from the power supply to the inverter, and controls the electric current output from the inverter depending on a result of the detection.

Abstract: A method of stabilizing a vehicle is provided. The vehicle is travelling at a forward speed and a lateral speed, and comprises a lateral acceleration sensor, a yaw sensor adapted to detect an actual yaw rate of the vehicle around a central axis, a steering mechanism adapted to steer the vehicle by a steered yaw rate, and an electronic stability control system.

Abstract: A method is provided that includes determining a state of a vehicle ignition switch; determining a state of the vehicle, wherein the vehicle state including at least one of whether the vehicle is in a torque producing mode, whether the vehicle is moving, and whether the vehicle brake system is engaged; and, controlling the vacuum pump in response to the vehicle state and the ignition switch state.

Abstract: A vehicle controlling system includes an engine serving as a power source of a vehicle; an electric storage device; an assist device that assists an operation of a driver by consuming power from the electric storage device so as to operate a running device that changes the running condition of the vehicle; and a starting device that consumes power from the electric storage device so as to start the engine, wherein the starting device automatically starts the engine based upon a physical quantity concerning the engine, and the start of the engine is inhibited while the assist device operates the running device, when the execution of an inertial running in which the engine is stopped to allow the vehicle to run with inertia.

Abstract: A vehicle brake system and a method of control. A friction brake torque and a secondary brake torque may be applied with a friction and secondary brakes, respectively, under various operating conditions, such as when a brake torque command is less than a threshold brake torque command.

Abstract: An electro-hydraulic brake-by-wire system includes a brake pedal, an electronic booster coupled to the brake pedal, a master cylinder coupled to the electronic booster, at least one hydraulic brake circuit disposed in fluid communication with the master cylinder, at least one front hydraulic brake disposed in fluid communication with the at least one hydraulic brake circuit and at least one rear hydraulic brake disposed in fluid communication with the at least one hydraulic brake circuit.

Abstract: A brake system for a mobile machine is disclosed. The brake system may have an anti-lock braking subsystem configured to calculate a maximum allowable brake command. The brake system may have a stability control subsystem configured to generate a desired differential brake command. The brake system may have a brake command adjustment subsystem. The brake command adjustment subsystem may be configured to calculate an ideal solution of a left brake command and a right brake command to satisfy a combination of the desired differential brake command and a desired total brake command. When the ideal solution is valid, the brake command adjustment subsystem may output the ideal solution as an actual brake command. When the ideal solution is invalid, the brake command adjustment subsystem may calculate a non-ideal solution of the left brake command and the right brake command.

Abstract: Disclosed herein are a solenoid valve control apparatus and method. The solenoid valve control apparatus to control a solenoid valve which include a solenoid coil and is opened and closed by current supplied to the solenoid coil, includes a switching unit which switches the current supplied to the solenoid coil, a pre-driver unit which outputs a driving signal to drive the switching unit, a current detection unit which detects the current flowing in the solenoid coil, and an MCU which controls the pre-driver unit so as to output the driving signal from the pre-driver unit to the switching unit such that a value of the current detected by the current detection unit reaches a target current value during current control of the solenoid valve and controls the pre-driver unit such that a frequency of the output driving signal is varied during output of the driving signal.

Abstract: A vehicle driving force suppression device is provided, and driving force suppression is conducted on the basis of existence of an obstacle which is on the opposite course to the selected shift position. Adding specific conditions related to acceleration pedal depression amount and speed, inclination of the road in the direction which an obstacle exists, or distance to the obstacle, magnitude of driving force suppression is decided.

Abstract: A hybrid vehicle includes an internal combustion engine and an electric motor for powering two wheels. The wheels are separated by a common differential. A controller is provided to execute certain commands related to the braking of the vehicle. During braking of the two wheels, one wheel exceeds its slip limit, causing the wheel speed of that wheel to drop and pull-down as the wheel catches the ground. In response to the one wheel pulling-down, the controller commands a reduction of brake actuation force on the pulled-down wheel, and also commands a reduction of a rate of increase of the brake actuation force on the non-pulled-down wheel. Simultaneous pull-down or pull-up of the wheels is thereby inhibited as brake actuation forces on each wheel are continued to be controlled in response to the other wheel's activity.

Abstract: A system mitigates shimmy of a wheel of a vehicle. The wheel is rotatable about an axis and is steerable by varying a steering angle of the wheel about a steering axis. The system includes a shimmy detection device that detects whether an oscillation/shimmy of the steering angle of the wheel occurs. The system also includes a brake that applies a braking load to decelerate rotation of the wheel about the axis. Furthermore, the system includes a controller that controls the brake to selectively apply the braking load to reduce the oscillation/shimmy of the steering angle of the wheel.

Abstract: A vehicle behavior control apparatus is equipped with a slip angle detector that detects a slip angle of a vehicle, a control amount calculation portion that calculates a control amount from the slip angle detected by the slip angle detector, a derivative of the slip angle, and a second order derivative of the slip angle, and a control portion that executes a behavior control for the vehicle based on the calculated control amount.

Abstract: A vehicle brake controller is provided with a master cylinder, a wheel cylinder, a brake hydraulic actuator, a vehicle-stop-state motor-OFF controller and a pressurization rate controller. The vehicle-stop-state motor-OFF controller performs a vehicle-stop-state motor-OFF control that stops the pump motor upon the vehicle being stopped by the brake operation, and that maintains a stop state of the pump motor as is during stopping of the vehicle. The pressurization rate controller adjusts a pressurization rate of the wheel cylinder pressure to a higher value as a road surface gradient becomes larger upon resuming operation of the pump motor after the vehicle-stop-state motor-OFF control ends due to acceleration from the vehicle stop state.

Abstract: A brake hydraulic pressure control device for a vehicle in which operation of a hydraulic pressure adjustment unit that can carry out adjustment involving individually increasing/decreasing brake hydraulic pressures applied to wheel brakes for front and rear wheels is controlled for allowing differential pressure between brake hydraulic pressures of the left and right wheel brakes, wherein allowable differential pressure setting means is arranged for setting the allowable differential pressure corresponding to the coefficient of friction of a road surface, hydraulic pressure acquisition means acquires a lock hydraulic pressure, which is a hydraulic pressure when starting anti-lock brake control for the respective wheel brake, and when the lock hydraulic pressure of the wheel brakes for the front wheels acquired by the hydraulic pressure acquisition means is no greater than a predetermined value, application of the allowable differential pressure corresponding to the coefficient of friction of the road surface

Abstract: The following are provided: an input device via which an operator inputs brake operations; a motor cylinder device that generates hydraulic brake pressure on the basis of electric signals based on said brake operations; and a VSA device that assists in stabilizing the behavior of the vehicle on the basis of the aforementioned hydraulic brake pressure generated by the motor cylinder device. Said input device, motor cylinder device, and VSA device are disposed, separated from each other, in an engine compartment partitioned off forwards of a dashboard.

Abstract: A system and method for correcting brake knockback in a vehicle disk brake system. Brake knockback can occur when a vehicle is driven through an aggressive turn or in other environments that exert a significant amount of lateral force on the vehicle's wheels. This can cause the rotors to deflect and push brake pistons into retracted positions, where they remain even after the vehicle exits the turn. According to one embodiment, the present method first estimates or predicts brake knockback by using lateral acceleration readings from the vehicle and a brake knockback model, and then corrects brake knockback by generating command signals for a hydraulic pump.

Abstract: A control unit for a driving assistance of a vehicle includes a data interface for querying sensors for detecting surroundings data of the vehicle, a data interface for querying a steering angle of the vehicle, an arithmetic unit for ascertaining driving instructions based on the surroundings data of the vehicle transmitted by the sensors, a data interface for outputting the driving instructions, the driving instructions including at least one instruction to perform a steering of the vehicle at a standstill, and an interface for activating a braking system of the vehicle in such a way that the vehicle is braked during the steering performed at a standstill until a predefined steering angle is reached.

Abstract: A method for controlling an electro-hydraulic braking system for motor vehicles, including providing an antilock control function, and a further brake pressure control function which can be activated in a “brake-by-wire” mode. A pressurization device, activated by an electronic control unit can be connected to hydraulically actuated wheel brakes through at least one pressure regulating valve. The pressurization device having a cylinder-piston arrangement with a chamber, the piston of which can be displaced relative to a rest position by an electromechanical actuator. A set pressure value is determined for each wheel brake activating the cylinder-piston arrangement such that a predetermined pre-pressure, which is determined from the set pressure values, is set in the chamber by displacement of the piston.

Abstract: An system for controlling vehicle movement includes a brake assembly configured to selectively resist movement of the vehicle. A controller selectively controls a brake force applied by the brake assembly. The controller is configured to determine a drive torque condition when the vehicle is stationary on an inclined surface. The controller selectively controls a rate of automatically reducing the brake force dependent on the determined drive torque condition to allow the vehicle to accelerate.

Abstract: In a control device of a braking device, a brake force holding control that holds a brake force generated by a braking device main body to wheels of a vehicle to a predetermined value or more is executed based on a change amount per unit time of an operation amount of a brake operation member. Accordingly, since the brake force holding control that holds the brake force to the predetermined value or more is executed by the braking device main body based on at least a change amount per unit time of an operation amount of the brake operation member, holding of the brake force can be appropriately executed regardless of an operation state.

Abstract: In a vehicular brake-by-wire braking system, during a four wheel simultaneous control mode when regeneration cooperative braking is implemented, a pair of electromagnetic isolation control valves and one of normally closed electromagnetic pressure relief valves corresponding to regeneration side left and right wheel brakes and normally closed electromagnetic pressure relief valves corresponding to non-regeneration side left and right wheel brakes are caused to operate to open and close, while the other of the normally closed electromagnetic pressure relief valves corresponding to the regeneration side left and right wheel brakes and the normally closed electromagnetic pressure relief valves corresponding to the non-regeneration side left and right wheel brakes are put in de-energized states in which the valves concerned are kept closed, and all normally open electromagnetic pressure supply valves are put in de-energized states in which the valves concerned are kept opened.

Abstract: A vehicle braking force control device includes a controller that controls braking force of a wheel by controlling friction braking force generated by a friction braking device and regenerative braking force generated by regenerative braking devices and that performs anti-skid control based on a requested amount of braking force reduction by controlling the friction braking force and reducing the regenerative braking force by an amount of regenerative braking force reduction. The controller sets a target change amount of the friction braking force based on the requested amount of braking force reduction and the amount of regenerative braking force reduction, and controls the friction braking force based on the target change amount when the controller reduces the regenerative braking force by the amount of regenerative braking force reduction.

Abstract: A method for demanding safety reactions for a rail vehicle having a plurality of appliances each able to demand a safety reaction when required, namely a braking process or a traction inhibit or both for the rail vehicle, includes: a) identification of a state in which one of the safety reactions should be carried out by one of the appliances, b) demanding the safety reaction by the appliance through a data bus, and c) feeding back information to the demanding appliance that the safety reaction has been carried out or intervening in a safety loop to initiate the desired safety reaction, if the safety reaction is not carried out.

Abstract: A vehicle braking force control device which, at a normal time, performs antilock brake control when the slip ratio of a wheel has become equal to or greater than a predetermined threshold. The control device acquires from the engine control unit an accelerator pedal position signal corresponding to an accelerator pedal position, a clutch connection signal corresponding to a state of connection of a clutch, and a power transmission signal corresponding to a state of power transmission of a transmission. When engine braking is large on the basis of the accelerator pedal position signal, the clutch connection signal, and the power transmission signal, the vehicle braking force control device changes the predetermined threshold value to an offset threshold value that makes it harder to perform the antilock brake control than at the normal time.

Abstract: A method of controlling travel of a vehicle equipped with an antilock braking system, including the steps of determining potential for one or more wheels to lift off the ground, deactivating the system in respect of the wheels with the lift off potential so the speed of these wheels is not taken into consideration when determining if anti-lock braking is required, applying a low-level test braking force to one or more of the wheels that has the lift off potential, monitoring the speed of the one or more wheels, and if the test braking force causes the wheel speed to fall below a predetermined percentage of the vehicle speed, triggering a stability alarm signal and/or applying a controlled braking force to reduce the vehicle speed.

Abstract: A vehicle has a drive unit driving wheels of a vehicle axle and braking the vehicle via a drive train in drag mode, an electronic control unit measuring actual wheel rotational speeds of the wheels, and a brake booster for reducing the actuating force at the brake pedal. A test unit is assigned to the electronic control unit and performs a plausibility check of the actual wheel rotational speeds in drag mode, wherein the test unit activates during the plausibility check the vehicle brake of one of the vehicle wheels and detects, from the rotational speed behavior of the wheel with a non-activated vehicle brake, whether the measured actual wheel rotational speeds correlate with the actual vehicle speed. A brake booster can be actuated by the test unit during the plausibility check in order to activate the vehicle brake.

Abstract: A safety interlock system for a motor vehicle has a plurality of object sensors capable of detecting the presence of an object such as a pedestrian in the danger zone at the front of the vehicle, rear the vehicle or proximate to the wheels. A door sensor is capable of detecting the open or closed state of the vehicle doors. An interlock override switch and a control circuit are also connected to the safety interlock system. The control circuit is capable of activating the safety interlock system when a door open signal is received. When the safety interlock system is activated the control circuit may engage the brakes to prevent motion of the vehicle if an object signal is received from the object sensor.

Abstract: A method for operating a braking system in a motor vehicle having at least two wheel brakes (54, 56), each of which can be activated by an electromechanical actuator of the self-locking type. Each wheel brake having a locking device for implementing a parking brake functionality, in which the locking device and respective electromechanical actuator is actuated and locked by the locking device when a parking brake function is carried out. A first method step is carried out in which the at least two actuators are actuated in succession and a second method step is carried out in which it is checked whether the at least two actuators have achieved respectively predefined brake application force. In the event of the at least two actuators having achieved the respectively predefined brake application force, the at least two actuators are locked in a third method step.

Abstract: A method of operating a brake system comprises determining a predicted braking effectiveness for a plurality of vehicle braking operations and determining an actual braking effectiveness for the plurality of vehicle braking operations. The predicted braking effectiveness is compared to the actual braking effectiveness. An adjustment factor for the brake system is determined based upon the comparison and the brake system response is adjusted based on the determined adjustment factor.

Abstract: A vehicle control apparatus includes an accelerator-manipulated-amount detecting section configured to detect a manipulated amount of accelerator; a braking-force generating section configured to generate a braking force of the vehicle; a driving-force generating section configured to generate a driving force of the vehicle; a control unit including a vehicle-body speed calculating section configured to calculate an actual vehicle-body speed. The control unit is configured to perform a normal control mode which generates a driving force corresponding to the accelerator manipulated amount, and to perform a speed control mode which calculates a target vehicle-body speed based on the accelerator manipulated amount and which controls the braking-force generating section and the driving-force generating section so as to bring the actual vehicle-body speed closer to the target vehicle-body speed.

Abstract: A brake control system includes: a friction brake unit for generating a friction braking force; a regenerative brake unit for generating a regenerative braking force; and a control unit for controlling the regenerative and friction brake units based on a regenerative target value and a friction target value defined based on a target deceleration, and for controlling a braking force by selecting one of a plurality of control modes including both a regeneration permission mode in which a total braking force is generated by the regenerative and friction braking forces, and a regeneration prohibition mode in which the target deceleration is generated by the friction braking force. In the permission mode, the control unit generates the total force by providing a delay, while in the prohibition mode, the control unit provides a delay smaller than the above delay to the friction braking force or does not provide a delay.

Abstract: In an apparatus for controlling a CVT that transmits power of an engine to driven wheels with hydraulic clamping pressure supplied from a hydraulic mechanism to clamp the belt from laterally-sided pulleys, it is determined whether the ABS operation of the ABS mechanism (to reduce braking force to be applied to the driven wheels when the driven wheels are locked) is delayed, and set hydraulic clamping pressure is increased when the ABS operation is determined to be delayed, while the set clamping pressure is maintained as it is when the operation of the ABS mechanism is determined to be not delayed.

Abstract: A method is described in which the wheel pressure in an electronically controlled motor vehicle brake system is determined. The brake system includes inlet valves and outlet valves in the wheel circuits. At least one of the valves allows adjusting the valve current. The basis for this are previously determined calibration values which describe the opening current behavior of the outlet valve. A verification of the wheel pressure is performed during a wheel pressure control operation by briefly opening the outlet valve of one brake circuit. The current prevailing in this case can be taken into account as an indicator for determining the wheel pressure.

Abstract: A vehicle motion control apparatus suppresses strangeness feeling in a driver when a signal from a sensor which detects an operated state quantity of a vehicle and a motional state quantity thereof is abnormal. The vehicle motion control apparatus includes a control unit, and sensors. An actual-state-quantity obtaining unit outputs a vehicle-body actual slip angle and an actual yaw rate to a deviation calculating unit. A reference dynamic-characteristic model calculating unit calculates a vehicle-body reference slip angle and a reference yaw rate using a dynamic-characteristic model and outputs those to the deviation calculating unit. A virtual external-force calculating unit feeds back a virtual external force to the reference dynamic-characteristic model calculating unit based on a deviation output by the deviation calculating unit.

Abstract: The invention relates to a method for preventing tip-over of a motor vehicle in the lateral direction, in which a finite number of predefined driving states is specified; in which a determination is made as to which of the predefined driving states the vehicle is in instantaneously, the predefined driving state thus determined being dependent on sensor signals and on that predefined driving state in which the vehicle was most recently; and as a function of the predefined driving state instantaneously present, at least one braking intervention is carried out in order to prevent the tip-over.

Abstract: A pneumatic vehicle brake system includes first and second groups of wheel brakes belonging, respectively, to first and second brake circuits having first and second compressed air storage tanks for providing first and second stored pressures. At least one first circuit brake cylinder is a combined spring-store/diaphragm cylinder with a spring store part for providing a parking brake and a diaphragm part for providing a service brake. If the first circuit fails, the spring store part is deaerated to engage the parking brake. A pressure sensor for measuring the first stored pressure is connected to a control unit that controls a modulator for aerating and deaerating the spring store part. The control unit generates a signal for an electrically actuatable modulator solenoid valve if the value measured by the sensor falls below a minimum value, such that the spring store part can be aerated and deaerated via the valve.

Abstract: An accelerator pedal device provided with a driving control device. The driving control device generates a braking force for braking a vehicle when the operation quantity of an acceleration pedal is below a first threshold value, and generates a driving force for driving the vehicle when the operation quantity exceeds a second threshold value larger than the first threshold value. The driving control device does not generate either the driving force or the braking force, and allows the vehicle to drive inertially, when the operation quantity ranges from the first threshold value to the second threshold value.

Abstract: A brake system for a vehicle includes brake cylinders operated by pressurized fluid for actuation of brakes by means of pressurized fluid on at least one first axle of the vehicle. The brakes on at least one other, second, axle can be actuated exclusively electromechanically in response to an electrical braking request signal. The pressure of the pressurized fluid can be modulated indirectly or directly and the electrical braking request signal can be generated indirectly or directly in response to actuation of a brake pedal of a brake pedal device. A service brake function is provided by means of hybrid use of the brakes on the first axle(s) together with the brakes on the second axle(s). The brake cylinders operated by pressurized fluid are pneumatically operated brake cylinders. The pressure modulated by the brake pedal device is a pneumatic pressure, and the pressurized fluid is compressed air.

Abstract: In a method for adjusting a brake system of a vehicle, braking power is automatically built up in the event of a collision. The automatic buildup of the braking power may be terminated by a defined driver response when the actuation of a driving pedal of the vehicle at a defined intensity and for a minimum period of time is maintained by the driver.

Abstract: A vehicle that improves the accuracy of wheel stopping determination including a stopping determination unit that calculates stopping determination time by multiplying the pulse width of a wheel speed pulse immediately before a non-output time, for which no wheel speed pulse is output from a wheel speed sensor, by 21/2+1, or a corrected time which is corrected on the basis of the stopping determination time is set as a threshold value for determining stopping of wheels. Thus, the time corresponding to the pulse width of the wheel speed pulse takes into consideration the deceleration and traveling distance of the vehicle, thereby obtaining an optimum threshold value for determining the stopping of the wheels.

Abstract: Disclosed is a method for controlling an electro-mechanical brake system including a cascade controller, in which a position controller, a speed controller and a current controller are integrated to control a motor. The method includes determining whether an actual speed of a motor exceeds a command speed of the motor in an early stage of a motor operation; and restricting speed reduction of the motor until a braking force is generated if the actual speed of the motor exceeds the command speed of the motor in the early stage of the motor operation. Speed reduction of the motor is restricted until braking force is generated even if a speed error (actual speed of the motor>command speed of the motor) occurs in the early stage of the motor operation in the EMB system, thereby improving the braking responsiveness.

Abstract: So that kinetic energy of a motor vehicle is recuperated in an optimum way in terms of energy, after a target point for braking or initiation of braking by the motor vehicle driver during travel of the motor vehicle has been detected, an optimum braking distance is determined insofar as the energy which can be recuperated is concerned, and a signal for the vehicle driver is generated which informs the driver the form of the measure which he has to perform in order to brake the vehicle or during braking of the vehicle for braking to actually occur over the optimum braking distance and for kinetic energy to be recuperated in an optimum way. The method combines the calculation of optimum operating states with autonomy of the vehicle driver during braking.

Abstract: A vehicle brake controller is provided with a master cylinder, a wheel cylinder, a brake hydraulic actuator, a vehicle-stop-state motor-OFF controller and a pressurization rate controller. The vehicle-stop-state motor-OFF controller performs a vehicle-stop-state motor-OFF control that stops the pump motor upon the vehicle being stopped by the brake operation, and that maintains a stop state of the pump motor as is during stopping of the vehicle. The pressurization rate controller adjusts a pressurization rate of the wheel cylinder pressure to a higher value as a road surface gradient becomes larger upon resuming operation of the pump motor after the vehicle-stop-state motor-OFF control ends due to acceleration from the vehicle stop state.

Abstract: The application of braking force to drive components that move a vehicle is controlled. As consistent with one or more example embodiments, an integrated circuit chip is located at each of two or more drive components (e.g., wheels) of a vehicle for controlling the application of a braking force to the drive component independently of the application of braking force to other drive components. Each of the integrated circuit chips communicate with one another over a vehicle network, with brake control (e.g., using an algorithm to limit wheel slip) being carried out separately at each drive component.

Abstract: A method and system for controlling vehicle stability may comprise determining whether a vehicle is oversteering or understeering and, if the vehicle is oversteering or understeering, determining an amount by which to reduce a speed of the vehicle to correct for understeering or oversteering and applying brake pressure to at least the rear brakes of the vehicle to reduce vehicle speed. The method and system also may comprise determining an engine torque reduction amount based on vehicle oversteer or understeer conditions, reducing engine torque by the determined amount or to zero if the determined amount of engine torque reduction is greater than an actual engine torque, and applying braking to at least the rear brakes of the vehicle if the determined amount of engine torque reduction is greater than the actual engine torque.

Abstract: A control apparatus controls acceleration of a vehicle provided with a motive power generation apparatus and brake apparatuses. For the control, the control apparatus comprises calculation and actuating blocks. The calculation block calculates torque to be requested, based on a difference between an actual value of the acceleration and a target value thereof and a gain for feedback controlling the actual value of the acceleration to the target value thereof. The gain is differentiated in value between in a first case in which the brake apparatuses are used for the feedback control and a second case in which the brake apparatuses are not used for the feedback control. The actuating block actuates the motive power generation apparatus and the brake apparatuses based on the calculated torque. The value of the gain in the first case is made larger than the value of the gain in the second case.

Abstract: A turning control device for a vehicle which generates a yaw moment in the body of a vehicle includes: a steering wheel turning amount detection device which detects a steering wheel turning amount of the vehicle; a vehicle speed detection device which detects a vehicle speed of the vehicle; a feedforward control amount calculation unit which calculates a feedforward control amount based on at least the steering wheel turning amount; a braking force control amount calculation unit which determines a braking force control amount based on the feedforward control amount; a braking control device which controls the braking force based on the braking force control amount; and a steering direction determination device which determines whether a steering direction is an incremental steering direction or a returning-steering direction. The feedforward control amount calculation unit includes a feedforward control amount correction unit which corrects the feedforward control amount.