Patent ID: 7302328

Claim:
A steering control apparatus for a vehicle, the vehicle having left and right wheels to which braking force is applied, a steering section, and a steered wheel that is steered by steering of the steering section, the apparatus comprising: a steering control amount calculating section that calculates a steering control amount based on the steering amount of the steering section; a braking force difference control amount calculating section that estimates the difference between braking force applied to the left wheel and braking force applied to the right wheel, and calculates a braking force difference control amount according to the braking force difference to cancel yaw moment that acts on the vehicle due to the braking force difference; a vehicle state control amount calculating section that calculates a target yaw rate and a target yaw angle based on a vehicle state quantity, calculates a yaw rate feedback amount based on the deviation between the target yaw rate and an actual yaw rate, calculates a yaw angle feedback amount based on the deviation between the target yaw angle and an actual yaw angle, adds the yaw rate feedback amount to the yaw angle feedback amount, and calculates a vehicle state control amount based on the result of the addition; an adding section that adds the braking force difference control amount and the vehicle state control amount to the steering control amount; a steered amount controlling section that determines a steered amount by which the steered wheel is steered based on the addition result of the adding section; and an adjusting section that, according to a change in a vehicle speed or to time elapsed from when braking started to be applied to the left and right wheels, adjusts a ratio related to the braking force difference control amount to be added to the steering control amount, and a ratio related to the vehicle state control amount to be added to the steering control amount.