A wheel adjusting device can adjust separately the wheel angles of left
and right wheels. A judgment portion which determines whether vehicle
braking is to be permitted or not based on the driving state of the
vehicle. A control portion controls the wheel adjusting device. More
specifically, under conditions where the vehicle braking is permitted by
the judgment portion, the control portion defines the wheel angles of the
left and right wheels to be in opposite phase and adjusts the wheel
angles in accordance with the braking force to be applied to the left and
right wheels.