Patent ID: 7212903

Claim:
A vehicle motion control apparatus having an anti-skid control device for controlling a braking force applied to each wheel of a vehicle, and a steering angle adjusting device for adjusting a steering angle of at least one of front and rear wheels of said vehicle, comprising: vehicle state monitor means for monitoring at least the steering angle and a vehicle speed; desired yaw factor setting means for setting a desired yaw factor indicative of a desired value for performing an optimal behavior control of said vehicle, on the basis of the steering angle and vehicle speed monitored by said vehicle state monitor means; yaw factor detection means for detecting an actual yaw factor of said vehicle; yaw deviation calculation means for calculating a yaw deviation between the desired yaw factor set by said desired yaw factor setting means and the actual yaw factor detected by said yaw factor detection means, said steering angle adjusting device adjusting the steering angle of at least one of said front and rear wheels to cancel the yaw deviation calculated by said yaw deviation calculation means to be substantially zero; incompatibility determination means for determining incompatibility between said steering angle adjusting device and said anti-skid control device, on the basis of a state of said wheel adjusted by said steering angle adjusting device to cancel the yaw deviation calculated by said yaw deviation calculation means; and parameter setting means for setting a predetermined parameter provided between a vehicle stability directive parameter and a brake directive parameter, on the basis of the incompatibility determined by said incompatibility determination means, said anti-skid control device controlling the braking force applied to each wheel of said vehicle on the basis of the predetermined parameter set by said parameter setting means.