Patent ID: 7558662

Claim:
A vehicular driving control apparatus, comprising: a sideslip angle detection circuit configured to detect a vehicular sideslip angle which is a difference between a vehicular forwarding direction and a steering direction of a steering wheel of the vehicle and configured to detect an oversteer state of the vehicle; a steering assistance mechanism configured to provide a first steering assistance force for the steering wheel; and a road wheel speed control mechanism configured to control at least one of a driving force and a braking force for each of road wheels of the vehicle to decrease a slip of the vehicle, the steering assistance mechanism developing a second steering assistance force in a direction at which the sideslip angle is decreased when the sideslip angle detection circuit detects the sideslip angle and the oversteer state, and the road wheel speed controlling mechanism controlling each of the road wheels to decrease the sideslip angle when the steering assistance mechanism develops the second steering assistance force in a direction to decrease the sideslip angle and the sideslip angle is equal to or larger than a predetermined value.