Importance

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Abstract

In a vehicle including a plurality of devices (14, 16, 60, and 70 to 74) for operating so as to cause a yaw rate of the vehicle to approach a target yaw rate, a target control amount Δγt for the yaw rate for causing a yaw rate γ of the vehicle to approach a target yaw rate γt is calculated (S20 to S60), for each device, a ratio of a change amount of the yaw rate to an energy loss amount caused by an operation is calculated as an efficiency (S80 to S100), the target control amount is sequentially distributed to the plurality of devices in descending order of the efficiency, to thereby calculate individual target control amounts for the plurality of devices (S110 to S160), and the operations of the respective devices are controlled based on the individual target control amounts (S170).

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First Claim