Vehicle-behavior control apparatus and vehicle-behavior control system

A vehicle-behavior control apparatus comprising:

• a collision determining unit that determines whether collision with an obstacle occurs based on at least one of a detection result of the obstacle in front of a vehicle and a detection result of a running state of the vehicle;
• and
• a vehicle-behavior control unit that performs at least one of control of steering rear wheels and control of giving a difference in braking conditions between left and right wheels such that the vehicle is decelerated while detouring around the obstacle without steering front wheels when it is determined to collide with the obstacle by the collision determining unit,
• wherein the vehicle-behavior control unit makes time to perform control shorter as a speed of the vehicle is in a higher state based on the detection result of the running state of the vehicle.

A vehicle-behavior control system comprising:

• a data acquisition unit that acquires data to be a source of detecting an obstacle in front of a vehicle;
• a steering device of rear wheels;
• a braking device of wheels;
• and
• a control device including a collision determining unit and a vehicle-behavior control unit, the collision determining unit determining whether the vehicle collides with the obstacle when the vehicle is decelerated while going straight based on at least a detection result of the obstacle in front of the vehicle and a detection result of a running state of the vehicle in a condition in which the wheels are being braked, the vehicle-behavior control unit performing at least one of control of steering the rear wheels and control of giving a difference in braking conditions between left and right wheels such that the vehicle is decelerated while detouring around the obstacle without steering front wheels when it is determined to collide with the obstacle by the collision determining unit,
• wherein the vehicle-behavior control unit makes time to perform control shorter as a speed of the vehicle is in a higher state based on the detection result of the running state of the vehicle.