Patent ID: 8712644

Claim:
A vehicle control apparatus comprising: a braking force applying device of a hydraulic type, capable of applying a braking force to each of a plurality of wheels; a hydraulic pressure controlling device capable of controlling a hydraulic pressure of said braking force applying device such that each of the wheels is not locked; a hydraulic pressure increasing or decreasing period changing device capable of changing an increasing or decreasing period of the hydraulic pressure controlled by said hydraulic pressure controlling device; and a controlling device for controlling said hydraulic pressure increasing or decreasing period changing device so as to make the increasing or decreasing period of the hydraulic pressure corresponding to each of the wheels in contact with a road surface having a high road surface friction coefficient different from a period corresponding to a yaw resonance frequency associated with a vehicle, in a case where a left-right braking force difference is generated due to operation of said hydraulic pressure controlling device.