Vehicle motion control apparatus

A hydraulic pressure regulating device is disposed between a master cylinder and a pair of wheel cylinders included in each of a dual hydraulic circuit. A desired value is provided for a wheel cylinder operatively associated with a wheel to be controlled, on the basis of state variable monitored by a monitor. The desired value for at least one wheel cylinder in a hydraulic circuit including the wheel cylinder for the wheel to be controlled, is modified at least in response to operation of a brake pedal to provide a modified desired value. When the brake pedal is operated, the regulating device is controlled in response to a result of comparison between the modified desired value and the state variable, to regulate the pressure in at least one wheel cylinder included in the hydraulic circuit.