a novel yawing - momentum detecting apparatus , and yawing - detecting method for a vehicle , and also a motion controlling apparatus for the vehicle with employment of this yawing - momentum detecting apparatus . the yawing - momentum detecting apparatus for the vehicle comprises : a plurality of acceleration sensors disposed at symmetrical positions on said vehicle with respect to a vertical axis passing through a gravity center of the vehicle within a plane perpendicular the vertical axis ; units for calculating yawing momentum of the vehicle occurring around the vertical axis based upon outputs from the plural acceleration sensors ; and characteristic correcting units for correcting output characteristics of the plural acceleration sensors under known acceleration values to coincide with reference output characteristic values when the known acceleration values are obtained under a certain vehicle operating condition . a further embodiment of the present invention further includes : units for calculating target yawing momentum based on a vehicle speed and a steering angle of a steering wheel while a car driver manipulates the steering wheel ; and units for adjusting a steering apparatus and / or a braking apparatus of the vehicle in such a manner that the yawing momentum obtained by the yawing - momentum calculating units is coincident with the target yawing momentum .