Vehicle behavior estimating device and vehicle behavior controlling device

While a driving torque TD outputted to a driving shaft (15) via an AT (13) from an engine (11) is detected (S140), a road-surface transmitting torque Td_tire is detected (S160) based on rotation speeds Vwdr, Vwdl of vehicle driving wheels, a vehicle body speed Vd, and driving torques Tdr, Tdl, all of which are previously detected. The driving torque TD and the road-surface transmitting torque Td_tire are then compared to each other (S170). When TD > Td_tire (S170: YES), the driving torque from an engine is controlled (S190, S200) so as to decrease a value of (TD - Td_tire). The vibrations of individual vehicle parts are thereby decreased.