Vehicle behavior control device

A vehicle behavior control device comprising:

• a power source configured to output a torque for driving road wheels of a vehicle;
• a braking device capable of applying different braking forces, respectively, to right and left road wheels of the vehicle;
• a steering wheel configured to be manipulated by a driver;
• a steering angle sensor configured to detect a steering angle of the steering wheel;
• a vehicle speed sensor configured to detect a vehicle speed of the vehicle;
• a yaw rate sensor configured to detect an actual yaw rate of the vehicle;
• and
• a processor configured to control the power source and the braking device,
• wherein the processor is configured to:
• set an additional deceleration to be added to the vehicle, to a value of 0.05 G or less, according to a steering speed which is a change rate of the steering angle, or a lateral jerk obtained based on a lateral acceleration of the vehicle, when a turning manipulation of the steering wheel is being performed and the steering angle detected by the steering angle sensor is increasing;
• reduce the output torque of the power source so as to generate the additional deceleration;
• decide a target yaw rate of the vehicle based on the steering angle and the vehicle speed, when a turning-back manipulation of the steering wheel is being performed and the steering angle detected by the steering angle sensor is decreasing;
• set a yaw moment oriented to suppress turning of the vehicle, as a first target yaw moment, based on a change rate of a difference between the actual yaw rate and the target yaw rate;
• set another yaw moment oriented to suppress turning of the vehicle, as a second target yaw moment, by multiplying the lateral jerk or the steering angle by a given coefficient;
• and
• control the braking device to apply a larger one of the first target yaw moment and the second target yaw moment to the vehicle.