Vehicle behavior control apparatus

A vehicle behavior control apparatus is divided into three major parts, sensors (31-38) for detecting engine and vehicle operating conditions, a target yaw rate establishing section (70) for establishing the rate and differential limiting apparatuses (50,60) 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 (70) 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.