Patent ID: 8280606

Claim:
A vehicle behavior control apparatus comprising: a vehicle body speed detection unit configured to detect a vehicle velocity of a vehicle a steering angle detection unit configured to detect a steering angle of a steering wheel a standard yaw rate calculation unit configured to calculate, based on the vehicle velocity and the steering angle, a standard yaw rate of the vehicle which has a positive or negative sign in accordance with a turning direction of the vehicle, a yaw rate detection unit configured to detect a yaw rate of the vehicle as a detection value having a positive or negative sign in accordance with a turning direction of the vehicle, and a braking force application unit configured to apply braking force to wheels of the vehicle on an internal side of a turning circle in accordance with a difference between the standard yaw rate and the yaw rate detection value at the time of vehicle turning, a lateral acceleration detection unit configured to detect a lateral acceleration detection value of the vehicle, a slip angle differential value calculation unit configured to calculate a slip angle differential value of the vehicle body by subtracting the yaw rate detection value from a value of the lateral acceleration direction value divided by the vehicle velocity; and a braking force application prohibition unit configured to prohibit the application of a braking force by the braking force application unit when: the yaw rate detection value is a negative value and the slip angle differential value is equal to or less than a negative judgment threshold.