According to the present invention, when at least one of a target braking/driving force and a vehicle target yaw moment required to a vehicle cannot be achieved by a braking/driving forces of wheels, a target braking/driving force after a modification and a target yaw moment after a modification are calculated to be {HEAD ~ values} attainable by {TAIL ~ the braking/driving forces} of the wheels 
attainable by
According to the present invention , when at least one of a target braking / driving force and a vehicle target yaw moment required to a vehicle can not be achieved by a braking / driving forces of wheels , a target braking / driving force after a modification and a target yaw moment after a modification are calculated to be { HEAD ~ values } attainable by { TAIL ~ the braking / driving forces } of the wheels
OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH HEAD HEAD HEAD HEAD HEAD REL REL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH