When a vehicle is turning, it is determined whether an inside turning wheel has sufficient grip force. If the inside wheel has sufficient grip force, left and right forces orthogonally input to the vehicle body are calculated based on longitudinal and lateral tire forces, and are checked if there is a difference in the left and right forces. If there is such a left-right force difference and the vehicle is not undergoing a braking operation, the turning angle of the inside wheel is corrected using a left-right independent steering device that independently controls the turning angles of left and right wheels, so that the difference becomes zero. Thus, the difference in left and right forces laterally input to the vehicle body is reduced to minimize a jack-up force. This improves the driving stability and achieves a good roll feel by means of a jack-down force, thereby achieving improved driving feel.