The general control unit of the wheel steering and brake control after the vehicle

PURPOSE:To obtain stable braking control and apply an efficient brake from the start of the brake by providing an integrated control device correcting the steering ratio characteristic to the same phase side when the slip ratio of wheels reaches the steering ratio characteristic correction threshold value. CONSTITUTION:The 4WS controller 10 of a four-wheel-steered vehicle determines the rear wheel steering angle from the vehicle body speed information based on the preset steering ratio characteristic and controls the steering of rear wheels 2R via a motor 4. An ABS device 20 controlling the brake liquid pressure is provided, it calculates the slip ratio and acceleration of wheels from the wheel speed information, and it compares calculated values with the brake control start threshold value to control the brake liquid pressure. The steering ratio characteristic correction threshold value is set to the slip ratio smaller than the brake control start threshold value, and an integrated control device 30 is provided which corrects the steering ratio characteristic to the same phase side if the slip ratio of vehicles reaches this threshold value.