The oversteer suppression control outputs a brake pressure signal that is optimally distributed between the outside front and rear wheels through the VSA modulator-control unit when the vehicle goes into oversteer. This generates a moment that suppresses oversteer and stabilizes the vehicle.

The understeer suppression control outputs a brake pressure signal that is optimally distributed between the inside front and rear wheels. This generates a moment that suppresses understeer through the VSA modulator-control unit when the vehicle goes into understeer. During acceleration, a torque down signal is also output to the PCM, which increases the cornering force of the driving wheels in order to maintain steerability and improve line traceability.