A vehicle behavior control apparatus is divided into three major parts,
sensors for detecting engine and vehicle operating conditions, a target
yaw rate establishing section for establishing the rate and differential
limiting apparatuses for selectively varying distribution ratios of
driving force between front and rear wheels and/or between left and right
wheels. The target yaw rate establishing section calculates a target yaw
rate based on a vehicle mass, a mass distribution ratio between front and
rear axles, front and rear axle mass, distances between front and rear
axles and a center of gravity, a steering angle of a front wheel, and
front and rear wheels equivalent cornering powers. A steady state yaw rate
gain is separately calculated for left and right steering, respectively. A
reference yaw rate is calculated by correcting a time constant of lag of
yaw rate with respect to steering based on estimated road friction
coefficient.
