Patent ID: 7383917

Claim:
A running stability control device for a vehicle having a steering device capable of steering steered vehicle wheels independently of a steering operation by a driver, the running stability control device comprising a computing device for estimating longitudinal forces of respective vehicle wheels, computing a yaw moment generated by a difference in the longitudinal forces of the vehicle wheels at left and right sides of the vehicle, computing a first compensation amount for a steering angle for steering the steered vehicle wheels to decrease the yaw moment due to the difference in the longitudinal forces of the left and right side vehicle wheels, computing lateral forces generated in the vehicle wheels at front and rear of the vehicle when the steered vehicle wheels are steered for the first steering angle compensation amount, computing a second compensation amount for the steering angle of the steered vehicle wheels for decreasing a sum of the lateral forces generated in the front and rear vehicle wheels when the steered vehicle wheels are steered for the first steering angle compensation amount, and computing a final steering angle for the steered vehicle wheels based upon the first and second steering angle compensation amounts, and operating the steering device for steering the steered vehicle wheels so that the steered vehicle wheels are steered for the final steering angle.