Vehicle turning control apparatus

A vehicle turning control device controlling a turning characteristic of a vehicle having braking/driving sources capable of independently controlling a braking/driving torque which is a braking torque or a driving torque for each of wheels, the vehicle turning control device comprising:

• a yaw moment control device configured to control a yaw moment that occurs in the vehicle;
• and
• a slip determination device configured to determine a road surface state from an angular velocity and an angular acceleration of the wheel of the vehicle and a vehicle speed, wherein
• the yaw moment control device includes
• a control gain calculator configured to calculate a control gain,
• a target yaw rate calculator configured to calculate a target yaw rate from the vehicle speed, a steering angle thereof, and the control gain calculated by the control gain calculator, and
• a yaw moment calculator configured to calculate the braking/driving torque for each wheel of the vehicle in accordance with the target yaw rate calculated by the target yaw rate calculator, and
• the control gain calculator calculates the control gain in accordance with a predetermined condition on the basis of a determination result of the slip determination device.