In the roll-over preventing control, a vehicle motion control device 10
causes inner-wheel braking force, according to the absolute value of an
actual lateral acceleration Gy, only on the rear wheel at the inner side
of the turning direction when the absolute value |Gy| of the actual
lateral acceleration is not less than a rear-wheel-side reference value
Gyr and not more than a front-wheel-side reference value Gyf thereby
causing height lowering force at the vehicle rear-side section of the
inner side of the turning direction. In addition, when the absolute value
|Gy| of the actual lateral acceleration becomes not less than the
front-wheel-side reference value Gyf, the inner-wheel braking force
according to the absolute value |Gy| of the actual lateral acceleration
is kept to be caused on the rear wheel at the inner side of the turning
direction and outer-wheel braking force according to the absolute value
|Gy| of the actual lateral acceleration is also caused on the front wheel
at the outer side of the turning direction, thereby forcibly generating a
yawing moment on the vehicle in the direction opposite to the turning
direction.