PURPOSE: To provided compatibility between directional stability and acceleration of a vehicle by correcting a drive torque control means, which controls the drive torque when a drive slip takes place, so that bigger the wheel steering angle becomes, smaller the drive torque may be at the time of operating the steering characteristic control means.
CONSTITUTION: Upon finding the yaw rate from the acceleration of the front and rear body, whose steering characteristics of the front wheel steering device 102 of a vehicle are respectively detected by lateral acceleration sensors 134a, 134b, and calculating the deviation of the actual yaw rate from the target yaw rate as a yaw rate deviation, a steering characteristic control means is operated. Correction of a drive torque control means, which controls the drive torque when drive wheels 2RL, 2RR slip, so that bigger the steering angle of wheels 2FL, 2FR become, smaller the drive torque may be at the time of operating the steering characteristic control means. Thus it is possible to obtain directional stability even when the steering angle of wheels 2FL, 2FR are large compatible with obtaining acceleration.
YOSHIDA SATOAKI
NAKAMOTO KIMIHISA
FUKUMOTO YUKI
