Patent ID: 8565976

Claim:
A vehicle travel control device having a steerable wheel turning means capable of turning steerable wheels to steer independently of steering operation of a driver and a turn assist yaw moment generating means capable of generating a turn assist yaw moment independently of lateral forces of the steerable wheels, and said vehicle travel control device has a control means which alters a controlled variable of said turn assist yaw moment generating means to thereby reduce the influence of limiting a controlled variable of said steerable wheel turning means on a turn yaw moment of the vehicle when a predetermined limiting condition is established and the controlled variable of said steerable wheel turning means is limited, wherein said steerable wheels are left and right front wheels; said turn assist yaw moment generating means includes a rear wheel turning means which is capable of supplementarily turning left and right rear wheels to steer; said steerable wheel turning means operates with an electric energy supplied from a power source; said control means determines that said predetermined limiting condition is established when the electric energy consumed by said steerable wheel turning means is to be saved; and said control means calculates a modification amount of a steered angle of the left and right rear wheels for reducing the influence of limiting the controlled variable of said steerable wheel turning means on the turn assist yaw moment of the vehicle when said predetermined limiting condition is established and modifies a target steered angle of the left and right rear wheels with said modification amount.