Vehicle motion control apparatus

The present invention is directed to a vehicle motion control apparatus, which includes a hydraulic pressure regulating device disposed between a master cylinder and a pair of wheel brake cylinders included in each of a dual hydraulic circuit, and a monitor for monitoring state variable of the vehicle. A desired value is provided for a wheel brake cylinder operatively associated with a wheel to be controlled, on the basis of the state variable. The regulating device is controlled in response to a result of comparison between the desired value and the state variable, to regulate the pressure in at least the wheel brake cylinder operatively associated with said wheel to be controlled. A pressure increasing gradient of the hydraulic braking pressure in the wheel brake cylinder operatively associated with the wheel to be controlled, is set in response to a result of comparison between the desired value and the state variable. The pressure increasing gradient provided when the brake pedal is depressed is set to be steeper than that provided when the brake pedal is not depressed.