Vehicle behavior controlling apparatus

A vehicle behavior controlling apparatus comprising:

• a steering state determining unit configured to determine a state of steering by a driver, including a state of turning-back steering where a first steering turns a wheel in a first left or right direction and is followed by a second steering which turns the wheel in a second right or left direction such that the first and second directions are reverse steering directions;
• a yaw rate acquiring unit to acquire a yaw rate during a travel of the vehicle;
• and
• a brake device controlling unit configured to control braking force applied to a wheel by controlling a brake device which generates the braking force, the brake device being configured to execute a stabilization braking, including:
• (a) when the turning-back steering is determined as being executed by the steering state determining unit, the brake device controlling unit generates a predetermined braking force on a front wheel at a side reverse to the second direction of the second steering, and
• (b) when a steering angle in the second steering is determined as being held by the steering state determining unit, the brake device controlling unit limits an amount of a reduction in the braking force, wherein
• the amount of the reduction in the braking force is limited, to execute the stabilization braking, when the steering angle in the second steering of the turning-back steering is determined to be held,
• the steering state determining unit determines that the steering angle in the second steering during the turning-back steering is being held when:
• (1) the turning-back steering is being executed, (2) the steering angle is greater than a predetermined value, and (3) a change of the steering angle is less than a predetermined change,
• the brake device controlling unit executes the stabilization braking during a braking when a steering angle in the second steering is being held,
• the brake device controlling unit, during a period when the stabilization braking is executed, ends the stabilization braking when the yaw rate, which is acquired by the yaw rate acquiring unit during the stabilization braking, is reduced from a peak value of the yaw rate by a predetermined amount or more.