Various kinds of state quantities of a vehicle body measured by different kinds of sensors are taken in (102). A maximum friction force Fimax is calculated for each wheel (104-110). A performance function independent of the magnitudes of each of vehicle body-induced force and yaw moment are defined, the performance function being produced, by using the maximum friction forces Fimax and other physical quantities, through a performance function where vehicle body-induced force is greater than yaw moment and a performance function where vehicle body-induced force is equal to or less than yaw moment (112). Orientation of a resultant force qi of forces induced by the tires of individual wheels is calculated using a third performance function (114). Braking and driving forces and steering angleof each wheel are calculated using the calculated orientation etc. of each wheel (116), and each wheel is controlled based on the obtained braking and driving forces and steering angle of each wheel.