To prevent a driver from feeling a sense of incongruity by providing an actuation command means for actuating a yaw moment generating mechanism so as to output yaw moment corresponding to difference between a target yaw moment and an actual yaw moment.

An actual-yaw-moment detection means, for vehicle behavior, derives lateral forces Fy1-Fy4 of each wheel based on inputs from each of sensors 31-36 and a slip angle detection means 37 as input means, and derives an actual yaw moment. On the contrary, a target-yaw-moment detection means 22 derives lateral forces Fy1-Fy4 of each wheel required to provide an ideal target tire characteristic based on inputs from the input means 31-37, and, based on this, derives a target yaw moment MM. A yaw-moment generating mechanism outputs a brake and drive force causing a yaw moment corresponding to difference between the actual yaw moment M and the target yaw moment MM.