To continuously execute the stable driving even in the failure of one sensor by mutually comparing two values among values of the vehicle behavior variables obtained from a lateral G sensor, a yaw rate sensor and a steering angle sensor, and controlling the vehicle behavior when the unstable state of the vehicle is detected.

The brake fluid pressure is applied to wheel cylinders 14 of wheels 1-4 by the opening and closing operation of an inlet valve and an outlet valve in a liquid pressure unit 20 in the brake control of an antilock brake control system and the like. When the liquid pressure unit 20 is controlled, an electronic controller 30 receives signals from a lateral G sensor 33, a yaw rate sensor 34, a steering angle sensor 35 and the like, and judges a condition of a vehicle to execute the brake control. The vehicle behavior control is executed to stably drive a vehicle when the deviation is found respectively in the corresponding relationship between the measured values of the lateral G sensor 33 and the yaw rate sensor 34, and the corresponding relationship between the measured values of the yaw rate sensor 34 and the steering angle sensor 35.