A system (10) for preventing skidding or roll-over of a road vehicle includes a wheel vibratory sensor arrangement (14) for each wheel (12) configured to measure vibrational motion of the wheel hub along at least two, and preferably three, perpendicular axes. The system processes the vibrational motion measurements to determine a current status of vehicle function and implements a suitable driving correction regime when necessary. The driving correction regime may include operating a braking system (20) of the vehicle so as to apply braking to selected wheels of the vehicle.