Patent ID: 8494721

Claim:
A vehicle integrated control apparatus comprising: an electrically controlled right/left wheel differential limiting mechanism configured to electrically control a restraining torque of right and left front wheels; a wheel speed difference detecting unit configured to detect a rotational speed difference between the right and left front wheels; a restraining torque proportional controlling unit configured to calculate a first steering assisting force that is proportional to a control amount of the restraining torque of the right/left-wheel differential limiting mechanism and that is in a direction according to the rotational speed difference between the right and left front wheels detected by the wheel speed difference detecting unit; a steering reaction force feedback controlling unit configured to calculate a second steering assisting force that corresponds to a steering system reaction force and that is in a direction along which the steering system reaction force is canceled; a steering force controlling mechanism configured to generate a steering assisting force including the first steering assisting force and the second steering assisting force, the steering assisting force aiding a steering torque of a power steering apparatus caused by a steering operation by a driver; and a switching unit configured to change a ratio of the first steering assisting force and the second steering assisting force in the steering assisting force, in accordance with the rotational speed difference between the right and left front wheels.