US Patent 11945431 Vehicle control apparatus

A vehicle control apparatus includes a braking controller individually controlling braking forces of braking devices for left and right front and rear wheels, a side collision detector detecting a side collision against a vehicle, and a yaw behavior detector detecting yaw behavior of a vehicle body. If the yaw behavior detected after the side collision is such that a rear of the vehicle body shifts away from a collision side relative to a front thereof, the braking controller executes yaw amplification control to cause the braking device for the collision-side front wheel to generate a braking force larger than the remaining wheels. If the detected yaw behavior is such that the front shifts away from the collision side relative to the rear, the braking controller executes the yaw amplification control to cause the braking device for the collision-side rear wheel to generate a braking force larger than the remaining wheels.