Lateral motion control apparatus for a vehicle

A lateral motion control apparatus for a vehicle comprising;

• a target value obtaining unit that obtains a target value for a lateral motion amount of a vehicle;
• a control amount calculation unit that calculates a control amount for controlling a control target so as to change the lateral motion amount of the vehicle based on the target value of the lateral motion amount obtained by the target value obtaining unit;
• a control target control unit that controls the control target based on the control amount;
• a control stop determination unit that determines whether or not to stop the control of the control target by the control target control unit based on a steering operation amount inputted by a driver of the vehicle;
• and
• a degeneration control amount determination unit that determines a degeneration control amount for controlling the control target such that the control amount for the control target degenerates after the time when the control stop determination unit has determined that the control of the control target is to be stopped,
• wherein, when the control stop determination unit has determined that the control of the control target is to be stopped, the control target control unit controls the control target based on the degeneration control amount determined by the degeneration control amount determination unit.