Vehicle Motion Control Apparatus, and Vehicle Motion Control Method

A vehicle motion control apparatus for controlling the motion of a vehicle provided with a brake apparatus configured to generate braking force in at least one of a front wheel and a rear wheel;

• a drive source configured to generate driving force in at least one of the front wheel and the rear wheel;
• and an electric motor configured to generate regenerative braking force and electric driving force in the front wheel or the rear wheel,
• the vehicle motion control apparatus comprising:
• a braking/driving force allocation unit configured to allocate braking/driving force to the front wheel and the rear wheel on the basis of braking/driving force required for the vehicle,
• wherein the braking/driving force allocation unit decreases the braking/driving force for one of the front wheel and the rear wheel for which the braking/driving force is generated by the electric motor in response to a decrease in the ratio of braking/driving force to a slip ratio of at least one of the front wheel and the rear wheel.