Patent ID: 7835837

Claim:
A device for controlling a behavior of a vehicle having a vehicle body, wheels and a steering apparatus that can steer the wheels independently of a driver's steering operation by a steering wheel, the device comprising: a portion for calculating a provisional target steering angle for the wheels based upon an amount of a steering operation of the driver and a predetermined steering characteristic; a detector for detecting an actual value of a turning state parameter; a portion for calculating a target value for the turning state parameter; a portion for calculating a target turning state control steering angle for the wheels for reducing a magnitude of a deviation of the actual turning state parameter from the target value for the turning state parameter when the magnitude of the deviation is at or above a reference value; and a portion for controlling a steering angle of the wheels based upon a final target steering angle incorporating therein the driver's steering operation, the predetermined steering characteristic and the reduction of the magnitude of the deviation of the actual turning state parameter from the target value for the turning state parameter when the magnitude of the deviation is at or above the reference value; wherein the target turning state parameter calculating portion calculates the target value for the turning state parameter by using the provisional target steering angle as a parameter representing a steered angle of the wheels, and wherein the portion for controlling the steering angle of the wheels based upon the final target steering angle comprises a rotary motion modifying device incorporated in a portion for transmitting a steering rotary motion of the steering wheel by the driver, the rotary motion modifying device being adapted to relatively rotate an input portion and an output portion thereof.