Vehicle control apparatus

A vehicle control apparatus applied to a vehicle including a front left wheel, a front right wheel, a rear left wheel, and a rear right wheel,

• the vehicle control apparatus comprising an electronic control unit configured to:
• execute a yaw moment control to control a yaw rate of the vehicle to a target yaw rate by (i) adjusting a braking force or a driving force applied to the front left wheel by a front left wheel yaw moment adjustment value, (ii) adjusting the braking force or the driving force applied to the front right wheel by a front right wheel yaw moment adjustment value, (iii) adjusting the braking force or the driving force applied to the rear left wheel by a rear left wheel yaw moment adjustment value, and (iv) adjusting the braking force or the driving force applied to the rear right wheel by a rear right wheel yaw moment adjustment value;
• and
• execute a speed difference control to (i) control a front wheel speed difference between a speed of the front left wheel and a speed of the front right wheel within a predetermined front wheel speed difference range by adjusting the braking force or the driving force applied to the front left wheel by a front wheel speed difference adjustment value and adjusting the braking force or the driving force applied to the front right wheel by the front wheel speed difference adjustment value and (ii) control a rear wheel speed difference between a speed of the rear left wheel and a speed of the rear right wheel within a predetermined rear wheel speed difference range by adjusting the braking force or the driving force applied to the rear left wheel by a rear wheel speed difference adjustment value and adjusting the braking force or the driving force applied to the rear right wheel by the rear wheel speed difference adjustment value,
• wherein the electronic control unit is configured to:
• execute the yaw moment control to the front left and right wheels when the front wheel speed difference is within the predetermined front wheel speed difference range;
• execute the speed difference control to the front left and right wheels when the front wheel speed difference is not within the predetermined front wheel speed difference range;
• execute the yaw moment control to the rear left and right wheels when the rear wheel speed difference is within the predetermined rear wheel speed difference range;
• and
• execute the speed difference control to the rear left and right wheels when the rear wheel speed difference is not within the predetermined rear wheel speed difference range.