A vehicle behavior control device (S) determines, by using a vehicle velocity (V), a transmission function (K(s)) which is determined based on a specification of the vehicle, receives as an input a wheel turning speed (ω) obtained by differentiating a wheel turning angle (δ) of left and right front wheels (FW1, FW2) with respect to time, and outputs a target yaw moment (My). The device (S) also calculates, by using the determined target yaw moment (My), a left-wheel-side forward/backward force (FxCL) imparted to a left wheel side (left front wheel FW1 and left rear wheel RW1) of a vehicle (10) and a right-wheel-side forward/backward force (FxCR) imparted to a right wheel side (right front wheel FW2 and right rear wheel RW2) of the vehicle (10). Then, the device (S) performs control to drive brake units (14-17) and in-wheel motors (IWMfl, IWMfr, IWMrl, IWMrr) depending on a turning direction of the vehicle (10), with the left-wheel-side forward/backward force (FxCL) serving as a braking force (or driving force) and the right-wheel-side forward/backward force (FxCR) serving as a driving force (or braking force). It is thus possible to ensure directional stability and responsiveness when the vehicle turns, taking into account a frequency response characteristic of a motion state amount generated on the vehicle (10).
