In a vehicle motion control system based on a target yaw rate scheme, a
brake force computing unit brakes an outer front wheel in a controlled
manner when a sign of the yaw rate has changed and the yaw rate increment
has become equal to or greater than a threshold value after a counter
steer action has been detected and the vehicle body slip angle has become
equal to or greater than a threshold value. Thus, suppose that a vehicle
travels a winding road and a counter steer action is taken. If the vehicle
body slip angle and actual yaw rate increment exceed threshold values, the
outer front wheel is braked. Therefore, even when the vehicle body slip
angle reaches a maximum value and an attempt is made to reduce it again by
a counter steer action in a similar manner as a swinging pendulum, because
the increases in the yaw rate and actual yaw rate increment are predicted
and monitored before the vehicle body slip angle reaches its maximum
value, the vehicle is enabled to travel in a stable fashion.
