To prevent a vehicle from turning on its side while good stability of vehicle is maintained, preclude a steering wheel from a risk to be taken away, and prevent the motion locus of the vehicle from swelling outside about the revolution.

A turn on its side tendency index value Vr is calculated (S20), and judgement is passed whether the risk of vehicle turn on its side is high (S30) on the basis of the obtained index value Vr, and if high, the steering angular velocity θd is calculated (S50), and also the filter treatment value θdaf of the absolute of the steering angular velocity is calculated (S60), and the θd or θdaf whichever is the greater is taken as the maximum value θdamax (S70). On the basis of the determined θdamax, the target deceleration Gxa of the vehicle is calculated so that it is greater with greater θdamax (S80), and the braking force of each wheel is controlled and the vehicle is decelerated so that its deceleration becomes the target deceleration value Gxa (S90 and 100).