Patent ID: 7529600

Claim:
A turning control device comprising: a wheel speed detection portion that detects a wheel speed of a wheel of a vehicle; a vehicle speed detection portion that detects a speed of the vehicle; a turning operation detection portion that detects whether the vehicle is in a turning operation state; a low speed turn determination portion that determines whether turning control needs to be performed when the vehicle is in the turning operation state while running at a low speed less than a predetermined value; a target wheel speed setting portion that sets a target wheel speed of the wheel such that the vehicle is caused to move along a desired turning path, wherein the desired turning path is a target turning path that is calculated based on a desired parking position, the vehicle is controlled to travel along the desired turning path by a turning control, the turning control controls a braking force of the wheel so that the vehicle moves along the desired turning path, the target wheel speed setting portion includes a turning radius calculation portion that calculates a turning radius such that the vehicle is caused to move along the desired turning path, the target wheel speed setting portion includes a target wheel speed calculation portion that calculates the target wheel speed based on the calculated turning radius, the target radius calculated by the turning radius calculation portion is smaller than a geometric turning radius that is geometrically determined based on a steering angle without the braking force; and a braking force control portion that controls braking force applied to the wheel such that, when it is determined that the turning control needs to be performed, the wheel speed is caused to converge on the set target wheel speed.