Patent ID: 8682556

Claim:
A control device for controlling a front wheel drive force and a rear wheel drive force of a vehicle, the control device comprising: a first control unit that controls a drive force of a main drive wheel and a drive force of an auxiliary drive wheel, the drive force of the main drive wheel being one of a front-wheel drive force and a rear-wheel drive force, and the drive force of the auxiliary drive wheel being the remaining of the front-wheel drive force and the rear-wheel drive force that is not the drive force of the main drive wheel; and a second control unit that sends to the first control unit an auxiliary-drive-wheel-limiting drive force to limit the drive force of the auxiliary drive wheel when the vehicle is traveling in an unstable state, the second control unit including a calculation unit for calculating the auxiliary-drive-wheel-limiting drive force based on a rate of change of an actual yaw rate of the vehicle; wherein wherein the second control unit performs control to reduce a yaw rate deviation so as to stabilize a traveling state of the vehicle; wherein the auxiliary-drive-wheel-limiting drive force is reduced when the rate of change of the actual yaw rate is increased; and, wherein a down coefficient, which is calculated by the second control unit and used to modify the auxiliary-drive-wheel-limiting drive force that is sent from the second control unit to the first control unit to limit the drive force of the auxiliary drive wheel when the vehicle is traveling in an unstable state, is set based upon a magnitude of the rate of change of the actual yaw rate and prior to control intervention, which occurs when the vehicle is determined to be travelling in the unstable state, whereby when the magnitude of the rate of change of the actual yaw rate is a first value at an initial time point of control, the initial time point of control being prior to control intervention, the second control unit is programmed to increase the down coefficient to thereby reduce the auxiliary-drive-wheel-limiting drive force, whereas when the magnitude of the rate of change of the actual yaw rate is a second value at the initial time point of control, the second control unit is programmed to reduce the down coefficient to thereby increase the auxiliary-drive-wheel-limiting drive force, the first value being greater than the second value.