Patent ID: 7263424

Claim:
An apparatus for controlling driving forces supplied to a left wheel and a right wheel of a vehicle, comprising: a driving force adjusting device for adjusting a driving force to be supplied to the left wheel and that to be supplied to the right wheel; a first controlling device for controlling said driving force adjusting device such that a difference between a speed of the left wheel and a speed of the right wheel coincides with a target wheel speed difference matching a running state of the vehicle; a second controlling device for controlling said driving force adjusting device such that a yaw momentum generated on the vehicle coincides with a target yaw momentum matching the running state of the vehicle; and a control amount adjusting device for changing a gain of a first contribution of said first controlling device to a second contribution of said second controlling device based on a turning state of the vehicle and outputting both the first contribution and the second contribution, in accordance with the changed gain, to said driving force adjusting device.