YAW RATE CONTROL APPARATUS, YAW RATE CONTROL METHOD, AND STORAGE MEDIUM

A yaw rate control apparatus includes an integral gain calculation part that calculates an integral gain corresponding to each vehicle speed of the vehicle acquired by an acquisition part at predetermined time intervals, a first steering angle calculation part that calculates a first steering angle that depends on a difference between a yaw rate of the vehicle and the target yaw rate, a second steering angle calculation part that calculates a second steering angle at the predetermined time intervals on the basis of i) a difference between the yaw rate of the vehicle and the target yaw rate and ii) the integral gain, and an output part that outputs a steering angle of the vehicle, acquired by adding together the first steering angle and the second steering angle, to a steering part of the vehicle.