Vehicle Motion Control Apparatus, Vehicle Motion Control Method, and Vehicle Motion Control System

A vehicle motion control apparatus includes a control unit which controls a steering apparatus and a brake apparatus provided in a vehicle. The control unit acquires a normative motion state amount necessary for the vehicle to trace a target traveling path, acquires a target motion state amount necessary for generating a yaw moment to cancel unstable behavior of the vehicle, and acquires a target steering angle for generating a steering angle moment and a target brake force for generating a brake moment, to obtain a necessary yaw moment generated by the vehicle. The control unit outputs a first control command for obtaining the target steering angle to the steering apparatus and outputs a second control command for obtaining the target brake force to the brake apparatus.