Vehicle motion control device

A vehicle motion control device comprising:

• roll angle occurrence tendency index obtaining means for obtaining an excessive roll angle occurrence tendency index value that indicates a degree of tendency that an excessive roll angle occurs on the vehicle;
• roll-over preventing control means that exerts roll-over preventing braking force, that is for generating a yawing moment on the vehicle in the direction opposite to the turning direction of the vehicle, on a predetermined wheel of the vehicle, when the vehicle is in the turning state and the obtained excessive roll angle occurrence tendency index value exceeds a predetermined value;
• understeer tendency index obtaining means for obtaining an understeer tendency index value that indicates a degree of understeer tendency in the turning state of the vehicle;
• and
• understeer restraining control means that exerts understeer restraining braking force, that is for generating a yawing moment on the vehicle in the direction same as the turning direction of the vehicle, on a predetermined other wheel of the vehicle, when the obtained understeer tendency index value exceeds a predetermined value;
• wherein the roll-over preventing braking force by the roll-over preventing control means and the understeer restraining braking force by the understeer restraining control means can simultaneously be exerted, this device further comprising understeer restraining braking force setting means that sets the understeer restraining braking force such that in a case where the understeer restraining braking force is exerted and the degree of understeer is a certain degree, the understeer restraining braking force is set to become smaller if the roll-over preventing braking force is being simultaneously exerted, but is not set to become smaller if the roll-over preventing braking force is not being simultaneously exerted.