Vehicle control device with power steering device

A vehicle control device including a power steering device which provides an assist torque or a steering angle command to a steering mechanism of a vehicle, the control device comprising:

• compensation steering angle operation means for calculating a compensation steering angle relative to a real steering angle of the steering mechanism;
• extraordinary yaw motion detecting means for detecting the occurrence of an extraordinary yaw motion which is not caused by the steering manipulation of the driver;
• compensation steering angle altering means for altering the compensation steering angle to suppress or moderate the extraordinary yaw motion;
• and
• real steering angle control means for controlling the compensation steering angle by using the compensation steering angle altering means when the occurrence of the extraordinary yaw motion is detected by the extraordinary yaw motion detecting means.