US Patent 7529600 Turning control device and method

A target vehicle path is corrected in accordance with the environment surrounding a vehicle during parking assist or U-turn assist. To achieve the target vehicle path, target wheel speeds are set for respective wheels so as to generate a speed difference an inside wheel and an outside wheel of a turn. The target wheel speed is achieved by controlling braking force and driving force of each wheel. Thus, it is possible for the vehicle to turn with a smaller turning radius than that generated by a normal steering angle, and to cause the vehicle to move accurately along the target vehicle path that avoids any obstacles that are present.