Patent ID: 6910746

Claim:
A motion control device for a vehicle provided with: understeer judging means for judging whether the turning state of the vehicle is an understeer state or not; and braking force controlling means that exerts braking force on a rear wheel at an inner side in a turning direction of the vehicle for generating a yawing moment in the turning direction of the vehicle in case where the turning state of the vehicle is judged to be the understeer state, comprising: actual lateral acceleration related amount obtaining means for obtaining an actual amount of a lateral acceleration related amount, that shows a degree of the turn of the vehicle, as an actual lateral acceleration related amount, wherein the braking force controlling means is configured to exert braking force for generating a yawing moment in the turning direction of the vehicle on the rear wheel at the inner side in the turning direction and to exert braking force for generating a yawing moment in the direction opposite to the turning direction of the vehicle on at least one of the front and rear wheels at the outer side in the turning direction, when the absolute value of the actual lateral acceleration related amount exceeds a predetermined value in the case where the turning state of the vehicle is judged to be the understeer state; and the braking force controlling means increases the braking force exerted on at least one of the front and rear wheels at the outer side in the turning direction according to the increase in the absolute value of the actual lateral acceleration related amount when the absolute value of the actual lateral acceleration related amount exceeds the predetermined value, and reduces the braking force exerted on the rear wheel at the inner side in the turning direction according to the increase in the absolute value of the actual lateral acceleration related amount when the absolute value of the actual lateral acceleration related amount exceeds an other predetermined value, in case where the turning state of the vehicle is judged to be the understeer state.