Patent ID: 7191048

Claim:
A vehicle motion control apparatus for performing a vehicle stability control on the basis of a parameter indicative of lateral margin for a tire on a road, comprising: steering control means for controlling a relationship between a steering angle and a tire angle to be varied; decelerating control means for controlling a vehicle speed to be decreased; monitor means for monitoring the parameter indicative of lateral margin for the tire; and motion control means for controlling said steering control means and said decelerating control means on the basis of the parameter monitored by said monitor means, said motion control means controlling said steering control means to decrease the tire angle relative to the steering angle, when the parameter is decreased from a value of relatively large lateral margin to a value of relatively small lateral margin, which is smaller than a first threshold value, and said motion control means controlling said decelerating control means to decrease the vehicle speed in addition to the steering control by said steering control means, when the parameter is further decreased to a value of lateral margin smaller than a second threshold value, which is smaller than the first threshold value.