Patent ID: 8676463

Claim:
A travel controlling apparatus of a vehicle comprising: a slip ratio detecting unit that obtains a slip ratio of a wheel depending on a travel state of a vehicle; a friction coefficient detecting unit that obtains a friction coefficient of the wheel depending on the travel state of the vehicle; a slip ratio stable region setting unit that sets a predetermined slip ratio stable region in which the friction coefficient becomes a predetermined value or more depending on the travel state of the vehicle and which has an upper limit value and a lower limit value composed of a change of slip ratio-friction coefficient characteristics; a braking/driving force controlling unit that controls a braking/driving force in the slip ratio stable region; and a slip ratio stable region changing unit that changes at least any one of an upper limit value or a lower limit value in the slip ratio stable region depending on a variation of the friction coefficient when the slip ratio increases and when the slip ratio decreases; wherein when the friction coefficient at the time the slip ratio decreases exceeds the friction coefficient at the time the slip ratio increases, the slip ratio stable region changing unit changes a lower limit value in the slip ratio stable region on a decreasing side.