Travel Assistance Method and Travel Assistance Device

A travel assistance method sets a target slip angle, estimates or detects an actual slip angle, sets a target braking/driving force by, when a sign of the vehicle body slip angle rotating in a turning direction of the vehicle is defined as positive and a sign of the vehicle body slip angle rotating in an opposite direction to the turning direction is defined as negative, correcting a required braking/driving force in such a manner as to increase a braking/driving force for a rear wheel or reduce a braking/driving force generated on a front wheel when the actual slip angle is larger than the target slip angle and correcting the required braking/driving force in such a manner as to reduce a braking/driving force for the rear wheel or increase a braking/driving force generated on the front wheel when the actual slip angle is smaller than the target slip angle.