Patent ID: 6185497
Filing Date: 2001-02-06
Classification: B60T

Abstract:
A vehicle behavior control apparatus comprising:a wheel speed sensor measuring speeds of wheels;a plurality of brake actuators producing braking efforts applied to wheels of a vehicle;a lateral momentum determining circuit determining a lateral momentum of a vehicle body during traveling;a vehicle state estimating circuit estimating a state of behavior of the vehicle body based on the speeds of the wheels measured by said wheel speed sensor and the lateral momentum determined by said lateral momentum determining circuit;a target braking effort determining circuit determining a target braking effort to be produced by each of said brake actuators based on the state of behavior of the vehicle estimated by said vehicle state estimating circuit; andbraking effort regulating means for regulating the braking efforts produced by said brake actuators so as to agree with target braking efforts, respectively, to control behavior of the vehicle body,wherein said vehicle state estimating circuit includes wheel state variable determining means for determining a wheel state variable based on a difference in speeds between a right one of the wheels and a left one of the wheels and estimates the state of behavior of the vehicle body based on the wheel state variable.